Methods for fast morphological image transforms using bitmapped binary images
CVGIP: Graphical Models and Image Processing
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
AI '02 Proceedings of the 15th Conference of the Canadian Society for Computational Studies of Intelligence on Advances in Artificial Intelligence
Remote Sensing Digital Image Analysis: An Introduction
Remote Sensing Digital Image Analysis: An Introduction
Current Status and Future Perspectives for Unmanned Aircraft System Operations in the US
Journal of Intelligent and Robotic Systems
On Integrating Unmanned Aircraft Systems into the National Airspace System: Issues, Challenges, Operational Restrictions, Certification, and Recommendations ... and Automation Science and Engineering)
A mobius automation: an application of artificial intelligence techniques
IJCAI'69 Proceedings of the 1st international joint conference on Artificial intelligence
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
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There are several works that approach the modeling of navigation environments for the automatic planning of paths for Unmanned Aerial Vehicles (UAVs). However these works do not consider the evaluation of risks to the population in case of accidents with UAVs. The present work proposes a grid-based method to construct visibility graphs based on the evaluation of effects of impacts of UAVs on the ground and on a set of geographic information. The metric used for the evaluation is the minimum acceptable period between accidents of this type. The geographic information to be used consists of georeferenced images and digital elevation models of the surfaces of the navigation environments; urban and rural population density information of the cities in these environments; and the polygonal representation of the cities. The visibility graphs constructed by the proposed method allow the UAVs to plan the shortest paths with a decrease of the probability of fatalities due to accidents with impact of UAVs on the ground. Analyses of the results are presented in this work.