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Meeting	ACGS Committee Meeting 110 - Auburn, Maine - October 2012
Agenda Location	5 2nd ANNUAL DAVE WARD MEMORIAL LECTURE 5.0 UAV Teams for Road Surveillance
Title	UAV Teams for Road Surveillance Best Presentation Award
Presenter	Derek Kingston
Affiliation	AFRL
Available Downloads*	presentation
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Abstract	Perimeter and road surveillance are tasks that are well suited for a team of UAVs. When little is known about the likelihood of a potential threat to appear in a region of interest, algorithms that treat the arrival rate to be uniform reduce to maximizing coverage and can be solved with decentralized algorithms. In applications where the expected arrival rate of threats is not uniform in the region of interest, simply maximizing coverage rate does not necessarily correspond to finding threats in minimum expected time. In a perimeter defense scenario, threats may be much more likely to arrive from certain directions than others (e.g. from the coast rather than through the mountains). This paper proposes a decentralized algorithm for converging to the maximum refresh rate pattern when the arrival rate is uniform and an algorithm inspired by the Whittle Index for non-uniform threat arrival rate along a network of roads.