Bearing-based Target Localisation in Search and Rescue Scenarios
Mimmo Nicola, Cenedese Angelo, Michieletto Giulia, Roberto Naldi · Archivio istituzionale della ricerca (Alma Mater Studiorum Università di Bologna) · 2024
This paper deals with the target localisation problem in search and rescue scenarios in which the technology is based on electromagnetic transceivers. The noise floor and the shape of the electromagnetic radiation pattern make this problem challenging. Indeed, on the one hand, the signal-to-noise ratio reduces with the inverse of the distance from the electromagnetic source thus impacting estimation-based techniques applicability. On the other hand, non-isotropic radiation patterns lessen the efficacy of gradient-based policies. In this work, we manage a fleet of autonomous agents, equipped with electromagnetic sensors, by combining gradient-based and estimation-based techniques to speed up the transmitter localisation. Simulations specialized in the ARTVA technology used in search and rescue in avalanche scenarios confirm that our scheme outperforms current solutions.