Guaranteed Road Network Search with Small Unmanned Aircraft

The use of teams of small unmanned aircraft in real-world rapid-response missions is fast becoming a reality. One such application is search and detection of an evader in urban areas. This paper draws on results in graph-based pursuit-evasion, developing mappings from these abstractions to primitive motions that may be performed by aircraft, to produce search strategies providing guaranteed capture of road-bound targets. The first such strategy is applicable to evaders of arbitrary speed and agility, offering a conservative solution that is insensitive to motion constraints pursuers may possess. This is built upon to generate two strategies for capture of targets having a known speed bound that require searcher teams of much smaller size. The efficacy of these algorithms is demonstrated by evaluation in extensive simulation using realistic vehicle models across a spectrum of environment classes.