SIAM Review
Ordered Upwind Methods for Static Hamilton--Jacobi Equations: Theory and Algorithms
SIAM Journal on Numerical Analysis
Path Planning for Autonomous Underwater Vehicles
IEEE Transactions on Robotics
Optimal sensor placement and motion coordination for target tracking
Automatica (Journal of IFAC)
Cooperative Large Area Surveillance with a Team of Aerial Mobile Robots for Long Endurance Missions
Journal of Intelligent and Robotic Systems
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The problems of area patrol, perimeter surveillance, and target tracking are combined into a single reconnaissance framework. This integration is based on application of ordered upwind methods to track the propagation of the target position boundary. The ordered upwind methods provide a computationally efficient method for computing the target track boundary over a discretized nonuniform mesh of the environment. Planning methods based on the target track boundary are discussed. Simulation results demonstrate the use of ordered upwind methods for reconnaissance tasks.