I
nte
rna
t
io
na
l
J
o
urna
l
of
Ro
bo
t
ics
a
nd
Aut
o
m
a
t
io
n
(
I
J
R
A)
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
2
0
,
pp.
2
3
3
~2
4
3
I
SS
N:
2089
-
4
8
5
6
,
DOI
:
1
0
.
1
1
5
9
1
/
i
jr
a
.
v9
i
4
.
pp
2
3
3
-
2
4
3
233
J
o
ur
na
l
ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Tra
cking
for
insp
ection
in
energy
t
ra
nsm
iss
io
n
po
wer
lines
using
unma
nned
a
eria
l
v
ehicles
:
a
sy
stema
tic
revi
ew
of
curr
ent
a
nd
specific
lite
ra
ture
Wa
nd
er
M.
M
a
rt
ins
1
,
Ant
o
n
io
J.
Da
nta
s
F
ilh
o
2
,
L
ea
nd
ro
D.
de
J
esu
s
3
,
Adler
D.
de
So
uza
4
,
Alex
a
nd
re
C.
B.
Ra
m
o
s
5
,
T
a
les
C.
P
im
ent
a
6
1,
6
In
stit
u
te o
f
En
g
i
n
e
e
rin
g
,
S
y
ste
m
s a
n
d
In
f
o
rm
a
ti
o
n
Tec
h
n
o
l
o
g
y
,
F
e
d
e
ra
l
Un
i
v
e
rsity
o
f
Itaj
u
b
a
,
Br
a
z
il
2
,
3,
4,
5
In
stit
u
te o
f
M
a
th
e
m
a
ti
c
s a
n
d
Co
m
p
u
tati
o
n
,
F
e
d
e
ra
l
Un
iv
e
rsity
o
f
Itaju
b
a
,
Bra
z
il
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Mar
22,
2
0
2
0
R
ev
is
ed
Ap
r
29,
2
0
2
0
Acc
ep
ted
Au
g
1
8
,
2
0
2
0
P
o
we
r
tran
sm
issio
n
l
in
e
s
a
re
of
g
re
a
t
im
p
o
rtan
c
e
f
o
r
th
e
o
p
e
ra
ti
o
n
of
a
ll
se
c
to
rs
of
so
c
iety
,
su
c
h
as
c
o
m
m
e
rc
e
,
in
d
u
stry
a
n
d
p
u
b
li
c
a
g
e
n
c
ies
.
To
e
n
su
re
re
li
a
b
il
i
ty
a
n
d
a
v
a
il
a
b
il
it
y
of
p
o
we
r
su
p
p
l
y
,
re
g
u
lar
a
n
d
o
c
c
a
sio
n
a
l
in
sp
e
c
ti
o
n
s
a
re
c
o
n
d
u
c
ted
,
m
o
stl
y
u
si
n
g
p
a
tro
l
with
b
i
n
o
c
u
lars
,
h
e
li
c
o
p
ters
,
or
tru
c
k
c
ra
n
e
s.
Re
se
a
rc
h
is
b
e
in
g
d
e
v
e
l
o
p
e
d
u
si
n
g
u
n
m
a
n
n
e
d
a
e
r
ial
v
e
h
icle
(UA
V)
to
m
a
k
e
th
is
a
c
ti
v
it
y
a
u
to
n
o
m
o
u
s,
fa
ste
r,
sa
fe
r,
a
n
d
les
s
c
o
stly
.
Th
e
p
re
se
n
t
wo
rk
a
ims
to
a
n
a
ly
z
e
re
se
a
rc
h
re
l
a
ted
to
th
e
a
u
to
n
o
m
o
u
s
c
o
n
tr
o
l
of
th
e
UAV
a
lo
n
g
t
h
e
tran
sm
issio
n
li
n
e
s
th
ro
u
g
h
a
sy
ste
m
a
ti
c
re
v
iew
of
th
e
li
tera
tu
re
(
S
RL),
a
p
p
l
y
a
v
iab
le
so
lu
t
io
n
a
n
d
to
v
e
rif
y
t
h
e
p
o
ss
i
b
le
lac
u
n
a
in
t
h
is
sta
te
of
th
e
a
rt.
Im
p
r
o
v
e
m
e
n
ts
in
sa
fe
ty
,
c
o
m
p
u
tati
o
n
a
l
p
ro
c
e
ss
a
n
d
e
n
e
rg
y
e
fficie
n
c
y
with
l
o
w
-
c
o
st
we
re
id
e
n
ti
fied
.
Th
e
re
su
lt
s
p
re
s
e
n
ted
can
h
e
lp
th
e
re
se
a
rc
h
c
o
m
m
u
n
it
y
to
p
e
rfo
rm
th
e
wo
rk
i
n
g
t
h
is
sta
te
of
a
rt,
fro
m
th
e
su
g
g
e
stio
n
s
of
a
u
to
n
o
m
o
u
s
tr
a
c
k
in
g
of
tran
sm
issio
n
li
n
e
s.
K
ey
w
o
r
d
s
:
Au
to
n
o
m
o
u
s
Simu
latio
n
Sy
s
tem
atic
r
ev
iew
T
r
ac
k
in
g
T
r
an
s
m
is
s
io
n
lin
es
UAV
T
h
is
is
an
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC
BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
W
an
d
er
M.
Ma
r
tin
s
,
I
n
s
titu
te
of
E
n
g
in
ee
r
in
g
,
Sy
s
tem
s
an
d
I
n
f
o
r
m
atio
n
T
ec
h
n
o
lo
g
y
,
Fed
er
al
Un
iv
er
s
ity
of
I
taju
b
a,
I
taju
b
a,
B
r
az
il,
1303,
Av
e.
B
P
S,
Pin
h
eir
in
h
o
,
I
taju
b
á,
Min
as
Ger
ais,
B
r
az
il,
3
7
5
0
0
-
903.
E
m
ail:
wan
d
er
m
en
d
es@
u
n
if
ei.
ed
u
.
b
r
1.
I
NT
RO
D
UCT
I
O
N
Acc
o
r
d
in
g
to
Natio
n
al
E
lectr
i
ca
l
Sy
s
tem
Op
er
ato
r
(
ONS)
,
a
B
r
az
ilian
p
r
iv
ate
co
m
p
a
n
y
r
esp
o
n
s
ib
le
f
o
r
c
o
o
r
d
in
atin
g
an
d
co
n
tr
o
l
lin
g
th
e
o
p
e
r
atio
n
of
elec
tr
icity
g
en
e
r
atio
n
a
n
d
tr
an
s
m
i
s
s
io
n
f
ac
ilit
ies
in
th
e
Natio
n
al
I
n
ter
c
o
n
n
ec
ted
Sy
s
tem
(
SIN
)
an
d
f
o
r
p
lan
n
i
n
g
th
e
o
p
er
atio
n
of
is
o
lated
s
y
s
tem
s
in
B
r
az
il,
in
2023
t
h
e
ex
ten
s
io
n
of
elec
tr
ic
ity
tr
an
s
m
is
s
io
n
lin
es
in
th
is
co
u
n
tr
y
will
be
1
8
5
,
4
8
4
km
[
1
]
.
T
h
e
tr
an
s
m
is
s
io
n
s
tr
u
ctu
r
e
is
s
u
b
ject
to
d
am
ag
es
of
th
e
n
atu
r
e
ac
tio
n
s
an
d
th
e
h
ig
h
ag
e,
n
ec
ess
itatin
g
,
p
er
io
d
ically
or
af
ter
g
r
ea
t
s
to
r
m
s
,
th
o
r
o
u
g
h
v
er
if
icatio
n
.
I
n
s
p
ec
tio
n
of
h
ig
h
v
o
ltag
e
p
o
wer
tr
an
s
m
is
s
io
n
lin
es
is
ca
r
r
ied
out
in
m
o
s
t
ca
s
es
by
m
an
n
ed
ae
r
ial
v
eh
icles
or
f
o
o
t
p
atr
o
l.
T
h
e
in
s
p
ec
tio
n
by
f
o
o
t
p
atr
o
l
is
p
er
f
o
r
m
ed
by
elec
tr
ician
s
,
lo
ca
ted
on
p
latf
o
r
m
s
in
th
e
p
lace
with
th
e
aid
of
liftin
g
tr
u
ck
s
,
or
p
latf
o
r
m
s
is
o
lated
with
th
e
aid
of
b
in
o
cu
la
r
s
[
2
]
.
In
th
e
in
s
p
ec
tio
n
m
eth
o
d
by
h
elico
p
ter
,
a
f
lig
h
t
is
ca
r
r
ied
out
p
ar
allel
to
th
e
tr
an
s
m
is
s
io
n
lin
e
an
d
an
o
p
e
r
ato
r
p
er
f
o
r
m
s
th
e
f
ilm
in
g
of
th
e
lin
e.
T
h
ese
m
eth
o
d
s
,
alth
o
u
g
h
f
u
n
ctio
n
al,
h
av
e
m
an
y
d
i
s
ad
v
an
tag
es,
h
i
g
h
lig
h
tin
g
th
e
r
is
k
of
ex
p
o
s
u
r
e
of
wo
r
k
er
s
an
d
th
e
h
ig
h
f
in
a
n
ci
al
co
s
t
p
er
co
u
r
s
e.
T
h
e
d
ev
elo
p
m
en
t
of
u
n
m
an
n
e
d
ae
r
ial
v
eh
icle
(
UAV)
or
r
em
o
tely
p
ilo
ted
air
cr
af
t
(
R
PA)
tech
n
o
lo
g
y
h
as
alr
ea
d
y
b
ee
n
ap
p
lied
to
m
an
y
tr
ad
itio
n
al
civ
ilian
an
d
m
ilit
ar
y
ap
p
licatio
n
s
.
On
e
p
o
s
s
ib
le
ap
p
licatio
n
is
th
e
r
ep
lace
m
en
t
of
tr
ad
itio
n
al
m
ea
n
s
of
in
s
p
ec
tin
g
p
o
wer
tr
an
s
m
is
s
io
n
lin
es,
h
o
wev
er
n
ew
is
s
u
es
ar
e
r
aised
,
am
o
n
g
t
h
em
th
e
way
to
p
er
f
o
r
m
with
lo
wer
co
s
t,
b
etter
p
er
f
o
r
m
an
ce
,
a
n
d
s
af
ety
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
3
3
–
243
234
T
h
e
aim
of
th
is
wo
r
k
is
to
id
e
n
tify
in
s
tate
of
th
e
ar
t,
in
p
u
b
licatio
n
s
th
e
b
est
way
to
p
er
f
o
r
m
p
o
wer
tr
an
s
m
is
s
io
n
lin
e
tr
ac
k
in
g
u
s
i
n
g
UAV.
Fo
r
th
is
,
th
e
s
y
s
tem
atic
liter
atu
r
e
r
ev
iew
(
SR
L
)
p
r
o
ce
s
s
was
u
s
ed
,
v
er
if
y
in
g
in
th
e
ac
ad
em
y
how
th
is
p
r
o
b
lem
is
b
ein
g
tr
ea
ted
an
d
p
r
o
v
id
in
g
a
tech
n
ical
an
aly
s
is
f
o
r
th
e
s
o
lu
tio
n
.
T
h
e
SR
L
ap
p
lies
a
w
ell
-
d
esig
n
ed
r
esear
ch
p
r
o
t
o
co
l
,
to
s
ea
r
ch
f
o
r
ar
ticles
in
s
cien
tific
d
atab
ases
,
an
d
with
r
esu
lt
of
th
e
an
aly
s
is
,
a
n
s
wer
th
e
r
esear
ch
q
u
esti
o
n
s
.
T
h
is
s
tu
d
y
aim
s
to
ass
is
t
o
th
er
r
esear
c
h
er
s
an
d
p
r
o
f
ess
io
n
als
in
v
er
i
f
y
in
g
th
e
m
eth
o
d
s
u
s
ed
,
s
u
p
p
o
r
tin
g
d
e
cisi
o
n
m
ak
in
g
in
f
u
t
u
r
e
p
r
o
je
cts.
T
h
er
e
is
g
r
ea
t
im
p
o
r
tan
ce
in
th
e
p
er
io
d
ic
r
e
v
iew
of
th
ese
f
ac
ilit
ies,
b
o
th
f
o
r
s
o
ciety
,
an
d
f
o
r
th
e
p
o
s
s
ib
ilit
y
of
a
u
to
m
atin
g
th
e
p
r
o
ce
s
s
o
f
f
e
r
in
g
l
o
w
co
s
t
an
d
h
ig
h
ef
f
icien
c
y
,
th
u
s
p
r
o
v
id
in
g
th
e
s
tab
ilit
y
of
th
e
en
e
r
g
y
s
er
v
ice.
To
ass
is
t
in
th
e
d
ev
elo
p
m
en
t
of
th
is
s
tu
d
y
,
th
e
Par
s
if
al
[
3
]
to
o
l
was
u
s
ed
.
It
h
as
th
e
m
ain
s
tep
s
n
ec
ess
ar
y
f
o
r
th
e
d
e
v
elo
p
m
e
n
t
of
SR
L
,
in
ad
d
itio
n
to
e
n
ab
lin
g
o
n
lin
e
co
llab
o
r
atio
n
of
th
e
au
t
h
o
r
s
a
n
d
th
e
g
en
e
r
atio
n
of
an
aly
tical
r
ep
o
r
ts
.
T
h
u
s
,
an
ex
ten
s
iv
e
m
ater
ial
is
p
r
o
d
u
ce
d
,
with
all
th
e
n
ec
ess
ar
y
in
f
o
r
m
atio
n
of
t
h
e
ar
ticles,
to
s
y
n
th
esize
th
e
r
esu
lt
in
th
is
wo
r
k
.
T
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws.
Sectio
n
2
d
escr
ib
es
th
e
r
esear
ch
m
eth
o
d
o
lo
g
y
u
s
ed
in
t
h
is
wo
r
k
,
th
e
p
r
o
ce
s
s
es
p
er
f
o
r
m
ed
,
an
d
th
e
r
esear
ch
q
u
esti
o
n
s
to
be
a
n
s
wer
ed
f
r
o
m
t
h
is
s
y
s
tem
atic
r
ev
iew.
Sectio
n
3
p
r
esen
ts
th
e
an
aly
s
is
of
th
e
s
elec
ted
ar
ticles
an
d
th
eir
class
if
i
ca
tio
n
s
.
Sectio
n
4
p
r
esen
ts
th
e
r
esu
lts
o
b
tain
ed
in
th
e
ex
tr
ac
tio
n
.
Sec
tio
n
5
th
er
e
was
a
d
is
cu
s
s
io
n
of
th
e
r
esu
lts
r
eg
ar
d
in
g
th
e
r
esear
ch
q
u
esti
o
n
s
an
d
th
e
last
s
ec
tio
n
p
r
esen
ts
th
e
co
n
clu
s
io
n
of
th
is
wo
r
k
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
m
eth
o
d
o
l
o
g
y
ch
o
s
en
f
o
r
th
is
s
tu
d
y
f
o
llo
ws
th
e
d
et
ailed
p
r
o
to
co
l
o
r
ig
in
ally
p
r
o
p
o
s
ed
by
Kitch
en
h
am
[
4
]
p
r
esen
ted
in
F
ig
u
r
e
1.
T
h
is
m
o
d
el
h
as
a
m
eth
o
d
o
lo
g
ically
well
-
d
ef
in
e
d
r
es
ea
r
ch
p
r
o
ce
s
s
to
be
ap
p
lied
th
at
id
e
n
tifie
s
,
an
aly
ze
s
,
an
d
in
ter
p
r
ets
av
ailab
le
ev
id
en
ce
r
elate
d
to
r
esear
ch
q
u
esti
o
n
s
.
Fig
u
r
e
1.
Step
s
f
o
r
th
e
d
e
v
elo
p
m
en
t
of
a
s
y
s
tem
atic
r
ev
iew
of
liter
atu
r
e
2
.
1
.
Resea
rc
h
def
ini
t
io
n
T
h
e
o
b
jectiv
e
of
th
is
wo
r
k
is
to
an
aly
ze
UAV
g
u
id
a
n
ce
tech
n
iq
u
es
f
o
r
th
e
in
s
p
ec
tio
n
of
p
o
wer
tr
an
s
m
is
s
io
n
lin
es
an
d
to
id
en
tify
m
ater
ials
an
d
m
eth
o
d
s
u
s
ed
in
th
e
au
to
n
o
m
o
u
s
tr
an
s
m
is
s
io
n
lin
e
s
in
s
p
ec
tio
n
f
r
o
m
th
e
p
o
in
t
of
v
iew
of
th
e
r
esear
ch
er
s
in
t
h
e
ar
ea
in
th
e
ac
ad
em
ic
c
o
n
tex
t.
T
h
e
elab
o
r
atio
n
of
th
e
q
u
esti
o
n
is
of
p
ar
am
o
u
n
t
im
p
o
r
tan
ce
f
o
r
th
e
o
u
tc
o
m
e
of
th
e
SR
L
.
T
h
e
an
s
wer
s
to
th
ese
q
u
esti
o
n
s
m
ak
e
p
o
s
s
ib
le
th
e
s
p
ec
if
ic
an
aly
s
is
to
d
eter
m
in
e
th
e
in
itial
f
o
c
u
s
of
th
e
r
esear
ch
an
d
m
ak
e
p
o
s
s
ib
le
th
e
co
n
tr
ib
u
tio
n
to
th
e
ac
ad
em
ic
e
n
v
ir
o
n
m
en
t.
T
h
u
s
,
th
e
f
o
llo
win
g
m
ain
q
u
es
tio
n
(
MQ
)
is
d
ef
in
e
d
:
-
W
h
at
ar
e
th
e
b
est
tech
n
iq
u
es
u
s
ed
to
tr
ac
e
tr
an
s
m
is
s
io
n
lin
es
in
an
au
to
m
ated
,
s
af
e
an
d
lo
w
-
co
s
t
way
?
T
h
e
MQ
s
ee
k
s
to
o
b
tain
th
e
b
est
way
to
p
er
f
o
r
m
th
e
tr
an
s
m
is
s
io
n
lin
e
tr
ac
k
in
g
an
d
,
f
o
r
th
is
,
it
tak
es
in
to
co
n
s
id
er
atio
n
im
p
o
r
tan
t
asp
ec
t
s
s
u
ch
as
ef
f
icien
cy
,
s
af
ety
a
n
d
co
s
t.
Fro
m
th
e
MQ
,
s
p
ec
if
ic
q
u
esti
o
n
s
(
SQ)
ar
e
d
ef
in
e
d
in
a
s
ec
o
n
d
ar
y
way
:
-
SQ1
:
W
h
at
is
th
e
co
s
t
of
im
p
lem
en
tin
g
th
e
m
ater
ials
an
d
tech
n
iq
u
es
u
s
ed
to
in
s
p
ec
t
t
h
e
tr
an
s
m
is
s
io
n
lin
es?
-
SQ2
:
W
h
at
is
th
e
co
m
p
u
tatio
n
al
an
d
en
er
g
etic
ef
f
icien
c
y
of
t
h
e
tech
n
iq
u
es
u
s
ed
to
g
u
id
e
th
e
UAV?
-
SQ3
:
W
h
at
is
th
e
lev
el
of
s
e
cu
r
ity
a
n
d
th
e
l
o
ca
tio
n
s
of
th
e
im
p
lem
en
te
d
s
o
lu
tio
n
s
f
o
r
th
e
tr
ac
k
in
g
of
tr
an
s
m
is
s
io
n
lin
es?
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Tr
a
ck
in
g
fo
r
in
s
p
ec
tio
n
in
en
e
r
g
y
tr
a
n
s
mis
s
io
n
p
o
w
er lin
es..
.
(
Wa
n
d
er M.
Ma
r
tin
s
)
235
Su
b
s
eq
u
en
tly
,
th
e
ev
id
e
n
ce
will
be
m
ater
ialized
in
p
u
b
lis
h
ed
p
r
im
ar
y
ar
ticles
r
etr
iev
ed
f
r
o
m
s
elec
ted
r
esear
ch
s
o
u
r
ce
s
.
T
h
e
r
etr
iev
al
of
t
h
ese
wo
r
k
s
h
ap
p
en
s
th
r
o
u
g
h
a
s
ea
r
ch
s
tr
in
g
(
SS
)
t
h
at
s
u
m
m
ar
izes
th
e
q
u
esti
o
n
s
to
be
s
ea
r
ch
ed
.
T
h
u
s
,
cr
iter
ia
wer
e
d
ef
i
n
ed
to
g
u
a
r
an
tee
th
e
b
alan
ce
,
f
ea
s
ib
ilit
y
an
d
ac
ce
s
s
ib
ilit
y
of
th
e
in
f
o
r
m
atio
n
f
o
r
th
e
e
x
ec
u
ti
o
n
of
th
e
s
tu
d
y
t
h
r
o
u
g
h
t
h
is
s
tr
in
g
,
th
e
cr
iter
ia
f
o
r
c
o
n
d
u
ctio
n
ar
e:
a.
Po
s
s
es
s
in
g
s
ea
r
ch
en
g
i
n
e
th
at
allo
ws
th
e
u
s
e
of
lo
g
ical
ex
p
r
ess
io
n
s
or
e
q
u
iv
alen
t
m
ec
h
an
is
m
,
r
etu
r
n
in
g
th
e
ex
p
ec
ted
f
r
o
m
th
e
s
tr
in
g
.
b.
I
n
clu
d
e
in
its
co
llectio
n
with
r
elev
an
ce
in
t
h
e
ac
ad
em
ic
en
v
ir
o
n
m
en
t
in
th
e
ar
ea
s
of
co
m
p
u
tin
g
an
d
en
g
in
ee
r
in
g
.
c.
T
h
e
s
ea
r
ch
en
g
in
es
s
h
o
u
ld
all
o
w
s
ea
r
ch
in
th
e
f
u
ll
tex
t
of
th
e
p
u
b
licatio
n
s
.
d.
Own
p
u
b
licatio
n
d
ate
b
etwe
en
J
an
u
ar
y
1,
2
0
1
4
a
n
d
J
u
n
e
1,
2
0
1
9
.
e.
It
s
h
o
u
ld
h
a
v
e
th
e
f
ea
tu
r
e
of
f
i
lter
in
g
o
n
ly
ar
ticle.
f.
T
h
e
p
u
b
licatio
n
m
u
s
t
be
a
v
ailab
le
in
th
e
E
n
g
lis
h
lan
g
u
a
g
e.
T
h
e
r
esear
ch
was
co
n
d
u
cted
f
r
o
m
f
o
u
r
d
ig
ital
lib
r
ar
ies
;
th
ey
ar
e
Ass
o
ciatio
n
f
o
r
C
o
m
p
u
tin
g
Ma
ch
in
er
y
(
AC
M)
(
d
l.a
cm
.
o
r
g
)
,
I
n
s
titu
te
of
E
lectr
ical
an
d
E
lectr
o
n
ic
E
n
g
in
ee
r
s
(
I
E
E
E
)
(
www.
ieee
.
o
r
g
)
,
Sco
p
u
s
(
www.
s
co
p
u
s
.
co
m
)
a
n
d
C
o
m
p
en
d
ex
(
www.
en
g
in
e
er
in
g
v
illag
e.
co
m
)
.
T
h
ese
b
ases
wer
e
ch
o
s
en
by
th
e
ex
p
e
r
im
en
t
ca
r
r
ied
out
by
Dy
b
ala
et
a
l
.
[
5
]
.
As
a
r
g
u
e
d
a
b
o
v
e,
s
o
m
e
d
atab
ases
cu
r
r
e
n
tly
k
n
o
wn
as
G
o
o
g
le
Sch
o
lar
,
Pu
b
Me
d
,
a
n
d
d
is
s
er
tatio
n
an
d
th
eses
lib
r
ar
ies
h
av
e
not
b
ee
n
c
o
n
s
id
er
ed
,
as
th
e
y
do
n
o
t
m
ee
t
th
e
d
r
iv
in
g
cr
iter
ia
cited
.
H
o
wev
er
,
it
is
k
n
o
w
n
th
at
m
o
s
t
of
t
h
e
ar
ticles
co
n
tain
ed
in
t
h
ese
p
latf
o
r
m
s
ar
e
also
av
ailab
le
in
th
e
s
elec
ted
b
ases
,
as
th
ese
ar
e
f
r
o
m
t
h
e
f
ield
of
s
tu
d
y
an
d
a
r
e
of
h
ig
h
ac
ad
em
i
c
r
elev
an
ce
.
2
.
2
.
Sea
rc
h
t
er
m
s
In
th
e
c
o
n
tex
t
of
t
h
e
s
tu
d
y
o
b
jectiv
e,
th
is
wo
r
k
d
ef
in
es
a
s
tr
ateg
y
to
co
n
s
tr
u
ct
th
e
SS,
th
is
s
tr
in
g
is
r
ep
r
esen
ted
g
en
er
ally
by
th
e
k
ey
wo
r
d
s
r
elate
d
to
th
e
s
ea
r
ch
q
u
esti
o
n
s
an
d
th
at
can
be
u
s
ed
in
th
e
s
ea
r
ch
.
T
h
e
s
tr
ateg
y
in
clu
d
ed
:
a.
I
d
en
tific
atio
n
of
k
e
y
wo
r
d
s
co
n
s
id
er
in
g
th
e
m
ain
r
esear
ch
q
u
esti
o
n
.
b.
I
d
en
tific
atio
n
of
k
e
y
wo
r
d
s
co
n
s
id
er
in
g
th
e
c
o
n
tr
o
l
a
r
ticle
[
6
]
o
r
ig
in
ate
d
f
r
o
m
th
e
r
esear
c
h
g
r
o
u
p
.
c.
Sy
n
o
n
y
m
s
id
e
n
tifie
d
in
t
h
e
co
n
tex
t.
T
h
e
m
ain
s
ea
r
ch
ex
p
r
ess
io
n
n
ee
d
s
s
p
ec
if
ic
ad
ju
s
tm
en
ts
in
t
h
e
s
tr
in
g
to
m
ee
t
th
e
d
r
iv
in
g
cr
iter
ia.
Fo
llo
win
g
th
e
r
ea
p
p
licatio
n
of
th
e
s
tr
ateg
y
of
co
n
s
tr
u
ctio
n
an
d
r
ef
in
e
m
en
t
of
th
e
s
tr
in
g
th
e
f
in
al
e
x
p
r
ess
io
n
u
s
ed
was:
(
“
Aut
o
no
mo
us
”
OR
“
Self
-
Na
v
ig
a
t
io
n
”
OR
“
Self
Na
v
ig
a
t
io
n
”
OR
Aut
o
ma
t
ic
OR
Aut
o
P
ilo
t
)
AND
(
“
Rem
o
t
ely
P
ilo
t
ed
Airc
ra
f
t
”
OR
RP
AS
OR
ARP
OR
“
Unm
a
nn
ed
Aer
ia
l
Vehicle
”
OR
UAV
OR
UAS
OR
DRO
NE
OR
“
un
m
a
nn
ed
a
er
ia
l
s
y
s
t
em
”
OR
A
irpla
ne)
AND
(
I
m
a
g
ing
OR
I
ns
pect
io
n
OR
M
a
inte
na
nce)
AND
(
“
T
ra
n
s
m
is
s
io
n
P
o
wer
”
OR
“
T
ra
ns
m
is
s
io
n
L
i
ne
”
OR
“
P
o
wer
line
t
ra
ns
m
is
s
io
n
”
OR
“
P
o
wer
Net
wo
r
k
”
OR
“
P
o
wer
line
ins
pect
io
n
”
OR
“
P
o
wer
line
”
)
2
.
3
.
Select
io
n
a
nd
qu
a
lity
cr
it
er
ia
In
o
r
d
er
to
s
u
p
p
o
r
t
th
e
s
elec
tio
n
of
r
elev
an
t
s
tu
d
ies
th
at
ar
e
alig
n
ed
in
th
e
clar
if
icatio
n
of
th
e
p
r
o
p
o
s
ed
r
esear
ch
q
u
esti
o
n
s
,
in
clu
s
io
n
an
d
ex
cl
u
s
io
n
cr
iter
ia
wer
e
d
ef
in
ed
.
T
h
e
i
n
clu
s
io
n
of
a
s
tu
d
y
was
d
eter
m
in
ed
by
r
elev
an
ce
,
ti
tle
an
aly
s
is
,
s
u
m
m
ar
y
,
in
tr
o
d
u
ctio
n
,
co
m
p
letio
n
an
d
wh
en
n
ec
ess
ar
y
by
th
e
co
m
p
lete
r
ea
d
i
n
g
of
th
e
s
tu
d
y
.
T
h
e
cr
iter
ia
a
d
o
p
te
d
f
o
r
ex
cl
u
s
io
n
a
n
d
i
n
clu
s
io
n
of
th
e
ar
ticles
ar
e
p
r
esen
ted
in
T
ab
les
1
an
d
2.
Af
ter
th
e
in
clu
s
io
n
an
d
ex
clu
s
io
n
cr
iter
ia
estab
lis
h
ed
,
th
e
n
ex
t
s
tep
was
to
d
ef
in
e
q
u
ality
cr
iter
ia.
To
an
aly
ze
t
h
e
q
u
ality
of
th
e
p
r
i
m
ar
y
s
tu
d
ies,
a
lis
t
of
f
iv
e
q
u
ality
cr
i
ter
ia
f
o
r
ad
d
r
ess
in
g
th
e
o
v
er
all
ar
ticle
h
as
b
ee
n
d
e
f
in
ed
an
d
is
p
r
esen
ted
in
T
a
b
le
3
b
ased
on
th
o
s
e
estab
lis
h
ed
by
Kitch
en
h
am
[
4
]
.
T
ab
le
1.
E
x
clu
s
io
n
cr
iter
ia
C
o
d
e
C
r
i
t
e
r
i
a
EC
1
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
do
not
c
o
n
t
a
i
n
t
h
e
e
x
a
c
t
k
e
y
w
o
r
d
s
or
v
a
r
i
a
t
i
o
n
s
t
h
e
r
e
o
f
w
i
l
l
be
d
i
sc
a
r
d
e
d
.
EC
2
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
do
not
u
se
u
n
ma
n
n
e
d
a
i
r
c
r
a
f
t
t
o
o
l
s
w
i
l
l
be
d
i
sc
a
r
d
e
d
.
EC
3
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
do
not
h
a
v
e
t
h
e
o
b
j
e
c
t
i
v
e
of
mo
n
i
t
o
r
i
n
g
t
r
a
n
sm
i
ssi
o
n
l
i
n
e
s
w
i
l
l
be
d
i
sca
r
d
e
d
.
EC
4
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
do
not
u
se
t
h
e
s
t
a
n
d
a
l
o
n
e
mo
d
e
w
i
l
l
be
d
i
sc
a
r
d
e
d
.
EC
5
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
do
not
h
a
v
e
a
l
l
t
h
e
p
r
o
c
e
ss
e
s
of
t
h
e
w
o
r
k
or
t
h
a
t
a
r
e
p
a
r
t
of
a
w
o
r
k
w
i
l
l
be
d
i
s
c
a
r
d
e
d
.
EC
6
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
a
r
e
o
n
l
y
in
p
l
a
n
n
i
n
g
or
t
h
a
t
h
a
v
e
n
o
t
b
e
e
n
a
p
p
l
i
e
d
at
l
e
a
st
in
t
h
e
si
mu
l
a
t
i
o
n
e
n
v
i
r
o
n
m
e
n
t
w
i
l
l
be
d
i
s
c
a
r
d
e
d
.
T
ab
le
2.
I
n
clu
s
io
n
cr
iter
ia
C
o
d
e
C
r
i
t
e
r
i
a
I
C
1
P
u
b
l
i
c
a
t
i
o
n
s
t
h
a
t
u
se
u
n
ma
n
n
e
d
a
i
r
c
r
a
f
t
f
o
r
i
n
s
p
e
c
t
i
o
n
on
t
r
a
n
smiss
i
o
n
l
i
n
e
s
can
be
s
e
l
e
c
t
e
d
a
u
t
o
n
o
mo
u
sl
y
.
I
C
2
P
u
b
l
i
c
a
t
i
o
n
s
c
a
n
be
se
l
e
c
t
e
d
t
h
a
t
h
a
v
e
d
i
f
f
e
r
e
n
t
t
e
c
h
n
i
q
u
e
s
f
o
r
a
u
t
o
n
o
mo
u
s
t
r
a
c
k
i
n
g
of
t
r
a
n
smiss
i
o
n
l
i
n
e
s.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
3
3
–
243
236
T
ab
le
3.
Qu
ality
c
r
iter
ia
C
o
d
e
C
r
i
t
e
r
i
a
Q
C
1
W
a
s
t
h
e
st
u
d
y
d
e
scri
b
e
d
c
l
e
a
r
l
y
a
n
d
a
p
p
r
o
p
r
i
a
t
e
l
y
?
Q
C
2
H
a
v
e
t
h
e
me
t
h
o
d
s
or
t
e
c
h
n
i
q
u
e
s
u
se
d
in
t
h
e
p
r
i
m
a
r
y
st
u
d
i
e
s
b
e
e
n
r
e
p
o
r
t
e
d
c
l
e
a
r
l
y
?
Q
C
3
W
a
s
t
h
e
v
i
r
t
u
a
l
e
n
v
i
r
o
n
me
n
t
u
s
e
d
in
p
r
i
mary
st
u
d
i
e
s
r
e
p
o
r
t
e
d
c
l
e
a
r
l
y
?
Q
C
4
W
a
s
t
h
e
st
u
d
y
p
r
o
p
o
s
a
l
e
v
a
l
u
a
t
e
d
/
v
a
l
i
d
a
t
e
d
?
Q
C
5
H
a
v
e
t
h
e
r
e
su
l
t
s
b
e
e
n
c
l
e
a
r
l
y
s
t
a
t
e
d
?
In
th
e
c
r
iter
io
n
of
n
o
te,
to
ev
al
u
ate
th
e
ar
ticles,
th
e
s
co
r
i
n
g
s
ca
le
was
u
s
ed
f
r
o
m
0
to
5,
b
ei
n
g
th
at
f
o
r
each
cr
iter
io
n
atten
d
e
d
co
m
p
letely
was
ad
d
ed
1
p
o
i
n
t,
if
p
ar
tially
0
.
5
p
o
in
ts
an
d
if
it
d
id
n
o
t
m
ee
t
th
e
cr
iter
io
n
no
s
co
r
e
was
ad
d
ed
.
Fo
r
co
s
t
cr
iter
ia
,
a
q
u
alitativ
e
ass
es
s
m
en
t
of
th
e
m
ater
ials
u
s
ed
was
estab
lis
h
ed
,
as
not
all
-
n
u
m
er
ical
in
f
o
r
m
atio
n
is
ac
ce
s
s
ib
le
in
th
e
p
u
b
licatio
n
s
.
T
h
e
s
ca
le
g
o
es
f
r
o
m
v
er
y
lo
w
to
v
er
y
h
i
g
h
.
UAVs
m
an
u
f
ac
tu
r
ed
f
r
o
m
s
c
r
atch
an
d
/o
r
u
s
in
g
o
n
ly
o
n
e
p
iece
of
eq
u
ip
m
en
t
will
be
d
o
wn
g
r
ad
e
d
to
co
s
t.
Platelet
UAVs
an
d
/o
r
eq
u
i
p
m
en
t
ad
d
-
ons
will
be
e
n
h
an
c
ed
in
th
e
c
o
s
t
r
atin
g
.
It
is
al
s
o
ev
alu
ated
in
t
h
is
cr
iter
io
n
th
e
co
s
t
of
m
ai
n
ten
an
ce
an
d
r
esis
tan
ce
of
th
e
e
q
u
ip
m
en
t
f
r
o
m
th
e
in
f
o
r
m
ati
o
n
of
th
e
au
th
o
r
s
th
em
s
elv
es.
In
th
e
o
t
h
er
cr
iter
i
a,
a
g
en
er
al
an
aly
s
is
is
p
er
f
o
r
m
ed
,
m
ea
s
u
r
in
g
f
r
o
m
th
e
i
n
f
o
r
m
atio
n
av
ailab
le
in
th
e
p
u
b
licatio
n
its
elf
.
Sectio
n
4
p
r
esen
ts
th
e
d
etails
of
th
e
ar
g
u
m
en
ts
m
ad
e
by
th
e
r
esp
ec
tiv
e
au
th
o
r
s
.
3.
CO
NDUC
T
I
O
N
AND
R
E
SU
L
T
S
T
h
e
im
p
lem
en
tatio
n
of
th
e
m
eth
o
d
o
l
o
g
y
p
r
esen
ted
in
F
ig
u
r
e
2
s
h
o
ws
th
at
th
e
r
esear
ch
r
etu
r
n
ed
a
to
tal
of
2
2
3
a
r
ticles
(
o
f
t
h
e
s
e
,
89
IEEE
a
r
ticles,
65
a
r
ticles
by
Sco
p
u
s
,
5
by
AC
M
an
d
64
C
o
m
p
en
d
e
x
ar
ticles),
as
th
e
u
n
io
n
of
th
ese
ar
ticles
h
ad
d
u
p
licates
(
8
5
)
an
d
ar
ticles
wh
ich
wer
e
not
alig
n
ed
with
th
e
r
esear
ch
q
u
esti
o
n
s
(
1
1
0
)
,
it
was
n
ec
ess
ar
y
to
ap
p
ly
a
s
cr
ee
n
in
g
p
r
o
ce
s
s
to
o
b
tain
o
n
ly
r
elev
an
t
ar
ticles
f
o
r
r
esear
ch
.
Fig
u
r
e
2.
Selectio
n
p
r
o
ce
s
s
of
p
r
im
ar
y
s
tu
d
ies
T
h
e
n
ex
t
s
tep
was
to
ap
p
ly
th
e
in
clu
s
io
n
an
d
ex
clu
s
io
n
cr
it
er
ia
r
esu
ltin
g
in
30
ar
ticles
in
to
tal
an
d
f
in
ally
a
m
o
r
e
ca
r
ef
u
l
s
elec
tio
n
was
m
ad
e
by
r
ea
d
i
n
g
th
e
ar
ticles
co
m
p
letely
,
r
em
o
v
i
n
g
4
a
r
ticles
with
d
u
p
licate
co
n
ten
t,
5
f
alse
p
o
s
itiv
e
ar
ticles
an
d
6
ar
ticles
th
at
th
e
tex
t
co
m
p
lete
was
not
av
ailab
le.
T
h
en
15
ar
ticles
wer
e
o
b
tain
e
d
wh
ic
h
ar
e
p
r
esen
te
d
in
th
e
T
ab
le
4
.
Af
ter
th
e
f
in
al
s
elec
tio
n
of
th
e
ar
ticles,
th
e
d
ata
ex
tr
ac
tio
n
p
r
o
ce
d
u
r
e
was
d
o
n
e
f
r
o
m
th
e
co
m
p
lete
r
ea
d
in
g
of
each
ar
ticle.
T
h
e
ex
tr
a
cted
d
ata
f
o
llo
wed
th
e
s
p
ec
if
icatio
n
s
d
escr
ib
ed
b
e
lo
w:
-
Pu
b
licatio
n
d
ata:
titl
e,
au
th
o
r
(
s
)
,
p
u
b
licatio
n
d
ate,
p
u
b
licatio
n
v
eh
icle
an
d
p
u
b
licatio
n
s
u
m
m
ar
y
.
-
Gen
er
al
in
f
o
r
m
atio
n
:
d
escr
ip
ti
o
n
of
th
e
o
b
jectiv
e
of
t
h
e
ar
tic
le
an
d
m
ater
ials
u
s
ed
(
to
s
tip
u
late
th
e
co
s
t
).
-
T
ec
h
n
iq
u
es:
m
o
d
e
u
s
ed
f
o
r
th
e
r
ec
o
g
n
itio
n
of
th
e
tr
an
s
m
is
s
io
n
lin
es
f
o
r
co
n
d
u
ctin
g
t
h
e
g
u
i
d
e.
-
R
esu
lts
o
b
tain
ed
:
to
o
b
tain
th
e
er
r
o
r
r
ates
(
%),
th
e
l
o
ca
tio
n
s
wh
er
e
th
e
test
s
wer
e
r
u
n
an
d
t
h
e
s
ec
u
r
ity
is
s
u
e.
-
Qu
ality
cr
iter
ia:
n
o
te
attr
ib
u
te
d
f
r
o
m
th
e
I
I
I
an
d
ad
d
itio
n
al
c
o
m
m
en
ts
f
r
o
m
each
r
esear
ch
e
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Tr
a
ck
in
g
fo
r
in
s
p
ec
tio
n
in
en
e
r
g
y
tr
a
n
s
mis
s
io
n
p
o
w
er lin
es..
.
(
Wa
n
d
er M.
Ma
r
tin
s
)
237
E
ac
h
p
r
o
ce
s
s
is
p
er
f
o
r
m
ed
by
two
or
th
r
ee
of
th
e
au
th
o
r
s
of
t
h
is
p
ap
er
,
th
is
allo
ws
th
e
r
ev
ie
w
of
d
ec
is
io
n
s
an
d
elim
in
ates
an
y
b
ias
th
at
m
ay
h
av
e
o
cc
u
r
r
ed
.
T
h
e
r
esu
lts
of
th
is
SR
L
wer
e
p
r
esen
ted
an
d
an
aly
ze
d
in
o
r
d
er
to
d
is
cu
s
s
th
e
e
v
id
en
ce
f
r
o
m
th
e
15
p
r
im
ar
y
s
tu
d
ies
th
at
m
ay
an
s
wer
th
e
r
esear
ch
q
u
esti
o
n
s
r
aised
.
As
s
h
o
wn
in
F
ig
u
r
e
3,
th
e
IEEE
an
d
Sco
p
u
s
d
atab
ase
h
ad
a
h
ig
h
r
ep
r
esen
tatio
n
with
n
i
n
e
an
d
eig
h
t
in
clu
d
ed
s
tu
d
i
es
r
esp
ec
tiv
ely
,
as
f
o
r
C
o
m
p
en
d
e
x
wer
e
f
iv
e
p
r
im
ar
y
s
tu
d
ies
t
h
e
AC
M
h
a
d
less
r
ep
r
esen
tatio
n
with
no
s
elec
ted
s
tu
d
y
.
T
h
e
s
y
s
tem
atic
m
ap
p
in
g
,
wh
ic
h
is
th
e
s
u
m
m
ar
y
of
th
e
an
aly
s
is
p
er
f
o
r
m
e
d
,
is
p
r
esen
ted
in
th
e
T
ab
le
4
.
Fig
u
r
e
3.
Qu
a
n
tity
p
ap
e
r
s
f
ilter
ed
on
each
s
ea
r
ch
e
n
g
in
e
T
ab
le
4.
C
h
ar
ac
ter
is
tics
id
en
tifie
d
in
th
e
a
r
ticles
Ref
M
a
t
e
r
i
a
l
M
e
t
h
o
d
s
Te
st
s
UAV
C
o
u
n
t
r
y
Ef
f
i
c
i
e
n
c
y
(
%)
C
o
s
t
Q
u
a
l
i
t
y
[
7
]
La
ser
B
i
n
o
c
u
l
a
r
v
i
si
o
n
R
e
a
l
f
l
i
g
h
t
U
n
i
C
h
i
n
a
97
A
v
e
r
a
g
e
4
.
0
[
8
]
C
a
mer
a
K
C
F
t
r
a
c
k
i
n
g
R
e
a
l
f
l
i
g
h
t
M
u
l
t
i
r
o
t
o
r
U
n
i
90
Lo
w
5
.
0
[
9
]
I
n
f
r
a
r
e
d
c
a
mer
a
G
C
S
R
e
a
l
f
l
i
g
h
t
M
u
l
t
i
r
o
t
o
r
U
n
i
U
n
i
A
v
e
r
a
g
e
4
.
0
[
1
0
]
C
a
mer
a
Ed
g
e
d
e
t
e
c
t
i
o
n
R
e
a
l
f
l
i
g
h
t
M
u
l
t
i
r
o
t
o
r
G
r
e
e
c
e
U
n
i
V
e
r
y
l
o
w
3
.
0
[
11]
La
ser
A
d
a
p
t
i
v
e
a
l
g
o
r
i
t
h
m
La
b
o
r
a
t
o
r
y
M
u
l
t
i
r
o
t
o
r
U
n
i
U
n
i
A
v
e
r
a
g
e
4
.
0
[
1
2
]
C
a
mer
a
a
n
d
l
i
d
a
r
D
i
scret
e
-
t
i
me
c
o
n
t
r
o
l
R
e
a
l
f
l
i
g
h
t
H
y
b
r
i
d
mu
l
t
i
r
o
t
o
r
U
n
i
U
n
i
A
v
e
r
a
g
e
4
.
5
[
1
3
]
M
a
g
n
e
t
i
c
sen
s
o
r
s
M
e
t
a
h
e
u
r
i
s
t
i
c
a
l
g
o
r
i
t
h
m
La
b
o
r
a
t
o
r
y
M
u
l
t
i
r
o
t
o
r
U
n
i
95
A
v
e
r
a
g
e
4
.
5
[
1
4
]
C
a
mer
a
Ed
g
e
d
e
t
e
c
t
i
o
n
R
e
a
l
f
l
i
g
h
t
M
u
l
t
i
r
o
t
o
r
U
S
A
U
n
i
Lo
w
4
.
5
[
1
5
]
M
a
n
i
f
o
l
d
M
u
l
t
i
-
se
n
so
r
a
d
j
u
s
t
me
n
t
R
e
a
l
f
l
i
g
h
t
H
e
l
i
c
o
p
t
e
r
C
h
i
n
a
98
V
e
r
y
h
i
g
h
4
.
5
[
1
6
]
G
P
S
a
n
d
I
M
U
W
a
y
p
o
i
n
t
s
a
d
j
u
s
t
a
b
l
e
R
e
a
l
f
l
i
g
h
t
F
i
x
e
d
w
i
n
g
&
mu
l
t
i
r
o
t
o
r
C
h
i
n
a
U
n
i
Lo
w
3
.
0
[
1
7
]
C
a
mer
a
Ed
g
e
d
e
t
e
c
t
i
o
n
La
b
o
r
a
t
o
r
y
U
n
i
U
n
i
97
A
v
e
r
a
g
e
4
.
5
[
1
8
]
C
a
mer
a
Ed
g
e
d
e
t
e
c
t
i
o
n
La
b
o
r
a
t
o
r
y
A
i
r
sh
i
p
U
n
i
U
n
i
Lo
w
3
.
0
[
1
9
]
C
a
mer
a
V
i
su
a
l
s
e
r
v
o
i
n
g
La
b
o
r
a
t
o
r
y
M
u
l
t
i
r
o
t
o
r
U
n
i
U
n
i
Lo
w
4
.
5
[
2
0
]
M
a
g
n
e
t
i
c
sen
s
o
r
s
I
n
v
e
r
se
m
o
d
e
l
a
l
g
o
r
i
t
h
m
S
i
mu
l
a
t
i
o
n
U
n
i
U
n
i
U
n
i
Lo
w
3
.
0
[
2
1
]
La
ser
A
d
a
p
t
i
v
e
a
l
g
o
r
i
t
h
m
La
b
o
r
a
t
o
r
y
H
y
b
r
i
d
mu
l
t
i
r
o
t
o
r
U
n
i
U
n
i
H
i
g
h
4
.
5
*
U
n
i
=
U
n
i
n
f
o
r
m
T
h
e
m
o
s
t
of
ar
ticles
s
tu
d
ied
p
r
o
p
o
s
ed
th
e
u
s
e
of
UAV
to
g
eth
er
with
th
e
ca
m
er
a
f
o
r
in
s
p
ec
tio
n
.
In
g
en
er
al,
in
t
h
e
ar
ticle
th
e
UA
V
is
m
an
u
f
ac
tu
r
ed
by
t
h
e
tea
m
its
elf
or
with
p
ar
tn
e
r
s
h
ip
s
as
in
[9
-
13
,
2
1
]
,
wh
ich
p
r
o
v
id
es
a
r
ed
u
ce
d
co
s
t
an
d
b
etter
f
its
th
e
r
esear
ch
er
’
s
n
ee
d
s
as
p
r
esen
ted
by
th
e
au
th
o
r
s
.
W
as
an
alter
n
ativ
e
in
[
8
,
13
,
1
4
]
a
d
ap
t
p
r
ef
ab
r
icat
ed
or
r
ac
k
-
m
o
u
n
ted
UAVs
th
at
g
en
er
ate
a
h
i
g
h
er
c
o
s
t,
m
ain
l
y
in
m
ain
ten
a
n
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
3
3
–
243
238
T
h
e
au
th
o
r
s
of
th
e
ar
ticles
[
7
,
11
,
12
,
1
5
]
u
s
ed
,
in
a
d
d
iti
o
n
to
th
e
b
asic
m
ater
ial,
L
I
DAR
(
lig
h
t
d
etec
tio
n
an
d
v
ar
iatio
n
)
[
22
],
a
p
u
ls
ed
laser
o
p
tical
tech
n
o
lo
g
y
th
at
m
ea
s
u
r
es
lig
h
t
r
ef
lectio
n
to
o
b
tain
d
is
tan
ce
f
r
o
m
o
b
jects,
an
d
o
t
h
er
laser
ty
p
es,
co
n
s
id
er
a
b
ly
in
cr
ea
s
e
th
e
co
s
t
of
th
e
s
o
lu
t
io
n
,
but
in
c
r
ea
s
in
g
th
e
ac
cu
r
ac
y
of
th
e
laser
lin
e
tr
ac
k
in
g
.
I
ts
d
ir
ec
tio
n
ad
ju
s
tm
en
t
tech
n
iq
u
e
is
to
r
a
d
iate
th
e
wir
e
h
o
r
iz
o
n
tally
,
o
b
tain
in
g
lin
e
d
is
tan
ce
in
f
o
r
m
atio
n
at
d
if
f
er
e
n
t
lo
ca
tio
n
s
on
th
e
wir
e.
H
1
an
d
H
2
in
F
ig
u
r
e
4
ar
e
th
e
r
ea
d
in
g
s
of
th
e
s
tar
t
an
d
en
d
d
is
tan
ce
s
.
T
h
e
an
g
le
(
1
)
b
etwe
en
th
e
s
id
es
of
th
e
s
ec
tio
n
an
d
th
e
ce
n
tr
al
ax
is
A
ap
p
r
o
x
im
ates
=
0
an
d
H
1
=
H
2
,
so
th
at
th
e
UAV
is
p
ar
allel
to
th
e
wir
e.
=
(
(
1
−
2
)
(
1
+
2
)
⁄
)
(
1
)
Fig
u
r
e
4.
Sch
em
atic
d
iag
r
am
f
o
r
Yam
an
g
le
m
ea
s
u
r
em
en
t
[
7
]
In
[
8
],
th
e
Ker
n
elize
d
C
o
r
r
el
atio
n
Fil
ter
(
KC
F)
alg
o
r
ith
m
[
23
]
was
u
s
ed
f
o
r
lo
ca
tin
g
a
n
d
tr
ac
k
i
n
g
b
etwe
en
to
wer
s
,
th
is
m
eth
o
d
u
s
es
r
o
llin
g
m
atr
ix
p
r
o
p
er
ties
to
in
cr
ea
s
e
p
r
o
ce
s
s
in
g
s
p
ee
d
.
T
h
is
tech
n
iq
u
e
is
k
n
o
wn
to
be
ef
f
icie
n
t,
b
u
t
c
o
s
tly
to
tr
ac
k
lin
es.
In
[
1
6
]
a
co
m
b
in
ati
o
n
of
v
ar
io
u
s
air
cr
af
t
was
u
s
ed
a
n
d
tr
ac
k
in
g
was
p
er
f
o
r
m
e
d
u
s
in
g
a
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS)
an
d
i
n
er
tial
u
n
it
of
m
ea
s
u
r
e
(
I
MU
)
way
p
o
in
t,
h
o
wev
er
,
th
e
ar
ticle
d
o
es
not
g
u
a
r
an
tee
ac
cu
r
a
te
tr
ac
k
in
g
as
th
er
e
is
in
f
lu
e
n
ce
s
th
e
ef
f
ec
t
of
ex
p
o
s
u
r
e
of
f
ield
s
n
ea
r
p
o
we
r
tr
an
s
m
is
s
io
n
to
wer
s
[
24
].
In
[
10
,
1
4
,
17
-
19
]
v
is
u
al
s
er
v
o
in
g
ty
p
e
tr
ac
k
in
g
[
25
]
is
u
s
e
d
f
o
r
UAV
co
n
tr
o
l,
t
h
e
m
eth
o
d
u
s
ed
is
ed
g
e
g
r
a
d
ien
t
d
etec
tio
n
.
A
s
m
o
o
th
ed
im
a
g
e
is
f
ilter
ed
with
th
e
So
b
el
f
ilter
co
r
e
[
26
]
in
th
e
h
o
r
izo
n
tal
(
Gx
)
an
d
v
e
r
tical
(
Gy
)
d
ir
ec
tio
n
to
o
b
tain
th
e
f
ir
s
t
d
er
iv
ativ
e
(
2
)
(
3
)
,
th
en
it
t
r
av
er
s
es
th
e
p
ix
els
with
a
g
r
ad
ien
t
v
ec
to
r
th
at
ca
lcu
lates
th
e
co
l
o
r
in
ten
s
ity
to
id
en
tify
th
e
ed
g
e,
as
s
h
o
wn
in
F
ig
u
r
e
5.
=
√
2
+
2
(
2
)
√
(
)
=
−
1
(
)
(
3
)
Fig
u
r
e
5
.
C
an
n
y
f
ilter
g
r
ad
ien
t
So
m
e
ar
ticles
u
s
e
ad
d
itio
n
al
m
eth
o
d
s
to
im
p
r
o
v
e
th
e
ac
c
u
r
ac
y
or
p
er
f
o
r
m
a
n
ce
of
th
e
a
lg
o
r
ith
m
s
.
In
[
10
,
17
]
a
r
o
b
u
s
t
Ho
u
g
h
tr
a
n
s
f
o
r
m
atio
n
m
et
h
o
d
[
27
]
is
u
s
ed
to
r
ed
u
ce
n
o
is
e
an
d
id
en
tif
y
g
eo
m
etr
ic
s
h
ap
es
in
im
ag
es
s
u
ch
as
lin
es.
In
[
10
,
14
]
also
u
s
es
r
eg
io
n
of
in
ter
e
s
t
(
R
OI
)
s
ep
ar
atio
n
alg
o
r
ith
m
s
to
r
ed
u
ce
th
e
e
d
g
e
of
th
e
im
ag
e
on
a
g
iv
en
o
b
j
ec
t,
elim
in
atin
g
p
ar
ts
th
at
s
h
o
u
ld
not
be
p
r
o
ce
s
s
ed
.
T
h
is
tech
n
iq
u
e
lets
y
o
u
ex
p
lo
r
e
th
e
p
ar
am
ete
r
s
of
lin
e
co
n
tin
u
ity
,
s
im
ilar
ity
,
a
n
d
f
i
x
e
d
s
p
ac
in
g
b
etwe
en
p
o
wer
li
n
e
s
tr
u
ctu
r
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Tr
a
ck
in
g
fo
r
in
s
p
ec
tio
n
in
en
e
r
g
y
tr
a
n
s
mis
s
io
n
p
o
w
er lin
es..
.
(
Wa
n
d
er M.
Ma
r
tin
s
)
239
It
was
p
r
o
p
o
s
ed
in
[
13
,
20
]
th
e
u
s
e
of
m
a
g
n
etic
s
en
s
o
r
s
,
th
e
p
o
s
itio
n
an
d
c
u
r
r
en
t
p
ar
am
eter
s
of
th
e
lin
es
wer
e
r
ec
o
n
s
tr
u
cted
f
r
o
m
th
e
m
ag
n
etic
f
ield
d
ata,
with
an
a
p
p
r
o
x
im
atio
n
m
o
d
el,
an
in
v
er
s
e
al
g
o
r
ith
m
was
p
r
o
p
o
s
ed
by
th
e
a
u
th
o
r
a
n
d
ap
p
lied
in
th
e
lab
o
r
ato
r
y
.
In
th
e
g
eo
m
etr
ical
m
o
d
el
of
th
e
s
tr
aig
h
t
co
n
d
u
cto
r
of
in
f
i
n
ite
len
g
th
in
th
e
p
lan
e
S
of
h
eig
h
t
H
p
ar
allel
to
t
h
e
h
o
r
izo
n
tal
p
lan
e
is
th
e
p
o
wer
tr
an
s
m
is
s
io
n
lin
e.
T
h
e
DC
cu
r
r
en
t
f
l
o
win
g
in
th
e
lin
e
is
in
d
icate
d
as
I
an
d
th
e
in
ten
s
ity
of
th
e
m
ag
n
etic
f
i
eld
is
m
ar
k
e
d
as
A,
an
d
a
v
er
tical
lin
e
of
S
is
m
ad
e
th
r
o
u
g
h
A
an
d
cr
o
s
s
es
th
e
p
lan
e
S
at
p
o
in
t
B.
A
v
er
tical
lin
e
of
L
is
m
ad
e
B
to
C.
T
h
is
m
o
d
el
is
r
ep
r
esen
ted
in
F
ig
u
r
e
6
an
d
t
h
e
lin
e
eq
u
atio
n
in
th
e
p
lan
e
(
4
)
.
+
+
(
4
)
Fig
u
r
e
6.
T
r
an
s
m
is
s
io
n
lin
e
m
o
d
el
b
ased
on
g
e
o
m
etr
ic
r
elati
o
n
s
h
ip
[
20
]
On
ly
in
[
1
2
,
1
6
,
2
1
]
is
th
e
en
e
r
g
y
ef
f
icien
cy
of
UAV
ad
d
r
es
s
ed
u
s
in
g
o
th
e
r
r
o
b
o
t
m
o
d
es
as
s
h
o
wn
in
Fig
u
r
e
7.
In
[
16
]
th
e
u
s
e
of
d
if
f
er
en
t
ty
p
es
of
UAVs
was
d
i
s
cu
s
s
ed
to
g
eth
er
an
d
o
n
lin
e
f
o
r
g
r
ea
ter
r
an
g
e
b
u
t
with
o
u
t
lo
s
in
g
th
e
p
r
ec
is
io
n
of
th
e
m
u
ltiro
t
o
r
.
In
ar
ticles
[
1
2
,
2
1
]
th
e
a
u
th
o
r
s
p
r
o
p
o
s
e
th
e
u
s
e
of
s
u
s
p
en
d
ed
g
r
o
u
n
d
wir
e
(
OGW),
a
lin
e
s
u
p
p
o
r
t
lo
ca
ted
at
th
e
h
ig
h
est
p
ar
t
of
th
e
tr
an
s
m
is
s
io
n
to
wer
,
th
u
s
co
n
s
id
er
ab
ly
in
cr
ea
s
in
g
th
e
r
an
g
e
b
ec
au
s
e
it
d
o
es
not
r
eq
u
ir
e
m
u
ch
ef
f
o
r
t
to
m
ain
tain
altitu
d
e.
T
h
e
p
r
o
b
lem
h
er
e
is
th
at
m
an
y
to
wer
s
do
not
h
av
e
t
h
is
ty
p
e
of
in
s
tallatio
n
ac
ce
s
s
ib
le
f
o
r
u
s
e.
Fig
u
r
e
7.
W
o
r
k
s
p
ac
e
of
d
if
f
er
en
t
p
o
wer
lin
e
i
n
s
p
ec
tio
n
r
o
b
o
ts
[
2
1
]
4.
DIS
CU
SS
I
O
N
AND
I
M
P
L
E
M
E
N
T
A
T
I
O
N
In
th
is
ch
ap
ter
,
th
e
r
esu
lts
an
d
th
e
th
r
ee
m
ain
r
esear
c
h
q
u
esti
o
n
s
will
be
d
is
cu
s
s
ed
.
In
ad
d
itio
n
,
in
th
e
en
d
a
g
en
e
r
al
s
u
r
v
ey
of
th
e
f
ea
s
ib
ilit
y
an
d
lim
itatio
n
s
of
th
e
s
tu
d
ies
ca
r
r
ied
out
a
r
e
d
is
cu
s
s
ed
.
4
.
1
.
So
lutio
n
of
qu
estio
ns
SQ1
:
Alth
o
u
g
h
th
e
ar
ticles
do
not
p
r
esen
t
cu
r
r
en
t
v
alu
es
u
s
ed
in
th
e
p
r
o
jects,
it
is
p
o
s
s
ib
le
to
h
av
e
n
o
tio
n
of
th
e
co
s
t
of
th
e
im
p
lem
en
tatio
n
f
o
r
t
h
e
s
o
lu
tio
n
m
ad
e.
Ma
in
te
n
an
ce
c
o
s
t
d
e
cr
ea
s
es
wh
en
u
s
in
g
s
elf
-
m
ad
e
m
ater
ials
.
Ar
ticles
t
h
at
u
s
e
a
f
ew
eq
u
ip
m
en
t,
m
o
s
tly
a
ca
m
er
a
an
d
a
s
en
s
o
r
ar
e
in
ex
p
en
s
iv
e,
wh
ile
th
o
s
e
u
s
in
g
a
v
a
r
iety
of
h
ig
h
-
e
n
d
eq
u
i
p
m
en
t
h
av
e
a
h
ig
h
er
c
o
s
t
an
d
th
e
r
esu
lts
,
th
ey
g
et
ar
e
s
im
ilar
to
th
o
s
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
3
3
–
243
240
SQ2
:
All
ar
ticles
th
e
tech
n
iq
u
e
is
co
n
s
id
er
e
d
v
ia
b
le
an
d
h
as
d
if
f
er
en
t
m
eth
o
d
s
,
l
o
c
atio
n
s
an
d
eq
u
ip
m
en
t
not
b
ein
g
p
o
s
s
ib
le
d
ir
ec
t
co
m
p
ar
is
o
n
.
To
s
tip
u
lat
e
ef
f
icien
c
y
of
t
h
e
tech
n
iq
u
e
u
s
ed
was
co
n
s
id
er
e
d
th
e
in
f
o
r
m
atio
n
of
th
e
a
u
th
o
r
h
im
s
elf
.
Ov
e
r
all,
th
e
er
r
o
r
r
ate,
wh
e
n
p
r
esen
te
d
,
is
ar
o
u
n
d
1
0
%
th
u
s
d
em
o
n
s
tr
atin
g
,
th
u
s
c
o
n
s
id
er
i
n
g
th
e
tech
n
iq
u
es
em
p
lo
y
ed
as
ef
f
icien
t.
Ho
wev
e
r
,
th
e
en
er
g
y
q
u
esti
o
n
was
little
d
is
cu
s
s
ed
,
in
g
en
er
al,
th
e
UAV
h
ad
s
tan
d
ar
d
c
h
ar
ac
ter
i
s
tics
of
au
to
n
o
m
y
.
SQ3
:
Du
e
to
th
e
l
o
w
er
r
o
r
r
a
te
an
d
th
e
s
im
u
latio
n
s
or
ex
p
er
im
en
ts
ca
r
r
ied
o
u
t
,
it
is
ass
u
m
ed
t
h
at
UAVs
ar
e
s
af
e
f
o
r
ap
p
licatio
n
,
but
a
s
p
ec
if
ic
ap
p
r
o
ac
h
to
lo
ca
tio
n
an
d
s
af
ety
h
as
not
b
ee
n
p
r
esen
ted
in
th
e
ar
ticles.
In
g
en
er
al,
th
e
e
n
v
ir
o
n
m
en
ts
of
u
s
e
ar
e
in
r
em
o
te
p
lace
s
an
d
of
little
cir
cu
latio
n
of
p
e
o
p
le,
b
u
t
in
p
r
ac
tice
th
er
e
ar
e
tr
an
s
m
is
s
io
n
lin
es
th
at
p
ass
in
th
e
m
id
d
le
of
g
r
ea
t
ce
n
ter
s
.
Fu
r
th
er
m
o
r
e
,
no
ar
ticle
h
as
h
a
d
a
d
ir
ec
t
r
elatio
n
s
h
ip
to
th
e
s
af
ety
of
its
im
p
lem
en
tatio
n
s
a
n
d
eq
u
ip
m
e
n
t.
4
.
2
.
Sim
ula
t
io
n
env
iro
nm
ent
Gaz
eb
o
[
28
]
was
ch
o
s
en
as
th
e
s
im
u
latio
n
en
v
ir
o
n
m
en
t
.
T
h
e
s
im
u
lato
r
can
p
r
o
v
i
d
e
r
ea
lis
tic
f
ee
d
b
ac
k
f
r
o
m
t
h
e
r
ea
l
wo
r
l
d
,
with
t
h
e
ac
c
u
r
ac
y
of
th
e
d
y
n
am
ic
e
n
v
ir
o
n
m
en
ts
a
r
o
b
o
t
can
en
c
o
u
n
ter
.
T
h
e
s
im
u
lato
r
also
allo
ws
th
e
u
s
e
of
an
g
u
lar
a
n
d
lin
ea
r
f
o
r
ce
s
th
at
can
be
ap
p
lied
to
s
u
r
f
ac
es
an
d
jo
in
ts
to
g
en
er
ate
lo
co
m
o
tio
n
an
d
i
n
ter
ac
tio
n
with
th
e
en
v
ir
o
n
m
e
n
t
.
In
th
is
wo
r
k
,
an
o
b
ject
was
u
s
ed
s
im
u
latin
g
a
s
eq
u
e
n
ce
of
p
o
we
r
tr
an
s
m
is
s
io
n
lin
e
to
wer
s
of
th
e
f
r
ee
s
tan
d
in
g
d
elta
m
o
d
el
with
cir
cu
it
an
d
r
o
b
o
tic
s
im
u
lato
r
UAV
m
o
d
el
T
y
p
h
o
o
n
H4
8
0
with
FP
V,
in
teg
r
ated
with
Gaz
eb
o
th
r
o
u
g
h
th
e
PX4
s
im
u
lato
r
Fig
u
r
e
8
.
I
n
itially
,
th
e
UAV
is
on
th
e
g
r
o
u
n
d
p
a
r
allel
to
th
e
p
o
wer
tr
an
s
m
is
s
io
n
lin
e,
with
its
n
o
r
th
to
th
e
f
in
al
o
b
jectiv
e
of
th
e
in
s
p
ec
tio
n
,
t
h
en
to
r
ea
ch
th
e
d
esire
d
h
eig
h
t
h
in
m
eter
s
,
a
n
eg
ativ
e
z
-
ax
is
v
elo
city
is
s
en
t
f
o
r
a
ce
r
tain
tim
e
t
in
s
ec
o
n
d
s
,
as
(
1
)
.
ℎ
=
−
∗
(
5
)
Fo
r
lin
e
s
eg
m
en
t
d
etec
tio
n
,
t
h
e
im
ag
e
n
ee
d
s
to
be
p
r
o
p
er
ly
h
an
d
led
.
First,
an
im
ag
e
r
esizin
g
to
W
(
weig
h
t)
600
by
H
(
h
eig
h
t)
3
6
0
is
p
er
f
o
r
m
ed
,
with
t
h
e
in
ten
tio
n
of
s
p
ee
d
i
n
g
up
th
e
d
etec
tio
n
.
T
h
en
th
e
im
ag
e
is
tr
an
s
f
o
r
m
ed
to
g
r
ay
s
ca
le.
T
h
e
im
ag
e
is
s
u
b
m
itted
to
a
Gau
s
s
ian
B
lu
r
f
ilter
wi
th
a
Ker
n
el
v
alu
e
of
5,
wh
ich
allo
ws
h
ig
h
lig
h
tin
g
t
h
e
o
b
ject
of
m
o
s
t
in
ter
est
[
29
].
T
h
e
C
an
n
y
e
d
g
e
d
etec
to
r
is
ap
p
lied
,
tu
r
n
in
g
t
h
e
im
ag
e
i
n
to
b
in
ar
y
to
id
e
n
tify
th
e
ed
g
es
u
s
in
g
n
eig
h
b
o
r
in
g
p
ix
els
h
ig
h
lig
h
te
d
in
wh
ite.
Seg
m
en
tatio
n
wo
r
k
s
with
n
o
is
e
r
ed
u
ctio
n
th
r
o
u
g
h
th
e
Ga
u
s
s
ian
f
ilter
,
th
en
tr
av
er
s
es
th
e
p
ix
els
with
a
g
r
ad
ien
t
v
ec
to
r
th
at
ca
lcu
lates
th
e
co
lo
r
in
te
n
s
ity
to
i
d
en
tify
t
h
e
ed
g
e
as
s
h
o
wn
in
th
e
F
ig
u
r
e
5.
T
h
e
Ho
u
g
h
Pro
b
a
b
ilis
tic
alg
o
r
ith
m
is
ap
p
lie
d
to
th
is
im
ag
e
t
r
ea
ted
with
a
s
p
ec
if
ic
r
eg
io
n
of
in
ter
est,
r
etu
r
n
in
g
a
lis
t
of
i
d
en
tifie
d
s
eg
m
en
ts
.
A
f
ilter
is
p
e
r
f
o
r
m
e
d
by
elim
in
atin
g
s
eg
m
e
n
ts
with
less
th
an
25%
H.
Als
o
,
h
o
r
izo
n
tal
lin
es
n
o
t
in
th
e
r
an
g
e
(
6
)
a
r
e
elim
in
ated
.
160
≥
2
(
,
)
.
180
⁄
≤
20
(
6
)
(
a)
(
b
)
Fig
u
r
e
8.
(
a
)
Gaz
eb
o
s
im
u
latio
n
en
v
ir
o
n
m
en
t
a
n
d
(
b
)
UAV
s
im
u
lato
r
Af
ter
o
b
tain
i
n
g
th
e
v
alid
s
eg
m
en
ts
,
a
c
h
ec
k
is
m
ad
e
to
f
in
d
th
e
lar
g
est
a
n
d
cl
o
s
est
p
ar
all
el
s
eg
m
en
ts
by
co
m
p
ar
in
g
by
s
im
p
le
s
u
b
tr
ac
tio
n
th
e
two
en
d
p
o
i
n
ts
of
th
e
lin
e
on
th
e
x
ax
is
o
n
ly
,
with
th
e
s
am
e
th
ick
n
ess
,
an
d
also
g
r
o
u
p
i
n
g
ac
c
o
r
d
in
g
to
p
o
s
itio
n
.
In
n
eg
ativ
e
r
esp
o
n
s
e
to
th
ese
ch
ar
ac
ter
is
tics
,
it
will
be
co
n
s
id
er
ed
th
e
f
ir
s
t
s
eg
m
en
t
d
etec
ted
.
T
h
e
s
tar
tin
g
an
d
en
d
in
g
p
o
in
ts
of
th
e
lin
e
ar
e
th
e
n
r
etu
r
n
ed
al
o
n
g
with
th
e
a
n
g
le
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Tr
a
ck
in
g
fo
r
in
s
p
ec
tio
n
in
en
e
r
g
y
tr
a
n
s
mis
s
io
n
p
o
w
er lin
es..
.
(
Wa
n
d
er M.
Ma
r
tin
s
)
241
o
b
tain
ed
.
T
h
e
lin
e
s
eg
m
en
ts
wer
e
id
en
tifie
d
in
all
ca
s
es
in
all
en
v
ir
o
n
m
e
n
ts
(
Fig
u
r
e
9
)
,
th
u
s
allo
win
g
th
e
ex
ec
u
tio
n
of
th
e
alg
o
r
ith
m
.
Ho
wev
er
,
th
e
lin
e
len
g
th
was
id
en
tifie
d
at
9
5
%
in
th
e
s
im
u
l
ato
r
[3
0
].
Fig
u
r
e
9.
I
m
ag
e
p
r
o
ce
s
s
in
g
4
.
3
.
P
o
s
s
ibl
e
la
cuna
a
na
ly
s
is
Acc
o
r
d
in
g
to
th
e
in
f
o
r
m
atio
n
co
llected
f
r
o
m
th
e
s
elec
ted
ar
ticles
th
e
lo
w
co
s
t
an
d
ef
f
icien
t
way
is
u
s
in
g
a
ca
m
er
a
to
u
s
e
th
e
alg
o
r
ith
m
ed
g
e
d
etec
tio
n
th
at
h
as
little
co
m
p
u
tatio
n
al
d
em
an
d
an
d
a
laser
to
ad
ap
t
th
e
alg
o
r
ith
m
s
u
p
p
o
r
tin
g
in
t
h
e
tr
an
s
m
is
s
io
n
lin
e
tr
ac
k
in
g
.
T
h
e
au
th
o
r
s
f
o
u
n
d
th
at
t
h
e
s
o
lu
tio
n
s
p
r
esen
ted
by
t
h
e
au
t
h
o
r
s
ad
d
r
ess
th
e
p
er
f
o
r
m
an
c
e
is
s
u
e
at
a
r
elativ
ely
lo
w
c
o
s
t,
but
n
ew
em
b
ed
d
e
d
s
y
s
tem
s
tech
n
o
lo
g
ies
f
o
r
UAV
ap
p
ea
r
at
all
tim
es
,
a
lacu
n
a
h
as
b
ee
n
id
en
tifie
d
r
e
g
ar
d
in
g
th
e
p
o
s
s
ib
ilit
y
of
u
s
in
g
d
ee
p
lear
n
in
g
with
R
ef
o
r
ce
m
en
t
L
ea
r
n
in
g
b
o
ar
d
[
31]
.
Fo
r
u
s
e
on
b
o
ar
d
th
e
UAV,
one
can
h
ig
h
lig
h
t
th
e
d
ee
p
lear
n
in
g
by
R
an
d
o
m
Fo
r
est
a
n
d
Yo
lo
,
wh
ich
allo
ws
f
o
r
h
ig
h
ac
cu
r
ac
y
with
r
elativ
ely
lo
w
p
r
o
ce
s
s
in
g
/tra
in
in
g
.
T
h
ese
tech
n
o
l
o
g
ies
can
p
r
o
v
id
e
a
g
en
er
aliza
tio
n
f
o
r
d
if
f
er
en
t
s
tr
u
ctu
r
es
of
to
wer
s
in
d
if
f
er
e
n
t
en
v
i
r
o
n
m
e
n
ts
.
Fo
r
s
af
ety
f
lig
h
t,
it
can
be
s
u
p
p
lied
with
s
im
p
le
s
o
lu
tio
n
s
s
u
ch
as
p
ar
ac
h
u
tes,
h
o
o
k
an
d
p
r
o
tectio
n
of
th
e
p
r
o
p
eller
s
.
It
is
also
p
o
s
s
ib
le
to
d
ev
el
o
p
r
ed
u
n
d
an
c
y
s
y
s
tem
s
f
o
r
s
en
s
o
r
s
an
d
m
o
to
r
s
[
32
].
V
er
tical
tak
e
-
o
f
f
a
n
d
lan
d
in
g
(
VT
OL
)
m
o
d
els,
wh
ich
ar
e
f
ix
e
d
win
g
m
u
ltiro
to
r
h
y
b
r
id
elec
tr
i
c
UAVs,
co
u
ld
be
co
n
s
id
er
ed
as
an
alter
n
ativ
e
f
o
r
ap
p
licatio
n
by
th
e
au
th
o
r
s
f
o
r
g
r
ea
ter
au
to
n
o
m
y
.
An
o
th
e
r
p
o
s
s
ib
ilit
y
r
aised
is
th
e
u
s
e
of
s
o
lar
p
an
els
with
[
33
],
not
n
ec
ess
ar
ily
f
o
r
m
o
v
em
en
t,
b
u
t
m
ay
be
u
s
ed
f
o
r
is
o
la
ted
co
m
p
o
n
e
n
ts
of
th
e
s
o
lu
tio
n
.
T
h
ese
s
o
lu
tio
n
s
wer
e
not
p
r
esen
ted
in
th
e
a
r
ticles.
5.
CO
NCLU
SI
O
N
Sev
er
al
tech
n
ical
m
ea
n
s
of
tr
ac
k
in
g
p
o
wer
tr
an
s
m
is
s
io
n
li
n
es
h
av
e
b
ee
n
an
al
y
ze
d
,
p
r
o
v
in
g
to
be
a
f
ield
t
h
at
can
be
well
ex
p
l
o
r
ed
,
an
d
with
a
lo
t
of
p
o
ten
tial
f
o
r
d
ev
elo
p
m
en
t.
Gettin
g
a
lo
w
co
s
t,
wid
esp
r
ea
d
,
ef
f
icien
t
an
d
s
ec
u
r
e
s
o
lu
tio
n
,
esp
ec
ially
in
a
c
o
u
n
t
r
y
with
lar
g
e
e
x
ten
s
io
n
s
an
d
lim
ited
f
in
an
cial
r
eso
u
r
ce
s
in
in
f
r
astru
ctu
r
e,
is
a
b
ig
ch
all
en
g
e.
T
h
e
ar
ticle
in
its
d
ir
ec
ti
o
n
o
b
tain
ed
th
e
r
eso
lu
tio
n
of
t
h
e
q
u
esti
o
n
s
r
aised
an
d
id
en
tifie
d
p
o
s
s
ib
ilit
ies
not
ex
p
lo
r
e
d
in
th
e
s
tate
of
th
e
ar
t
,
with
th
e
f
o
c
u
s
on
s
af
ety
a
n
d
ef
f
icien
cy
.
It
is
in
ten
d
ed
by
th
e
au
th
o
r
s
th
e
r
ea
l
im
p
lem
en
tat
io
n
of
au
to
n
o
m
o
u
s
tr
ac
k
i
n
g
,
u
s
in
g
a
u
n
i
v
er
s
ity
-
m
ad
e
UAV,
u
s
in
g
s
o
lar
p
an
el,
L
id
a
r
s
en
s
o
r
s
a
n
d
m
o
n
o
c
u
lar
ca
m
er
a.
An
ad
ap
tiv
e
alg
o
r
ith
m
f
o
r
to
wer
an
d
lin
e
r
ec
o
g
n
itio
n
will
also
be
d
e
v
elo
p
e
d
.
T
h
e
r
e
ar
e
r
ev
iews
in
th
e
s
cien
tific
liter
atu
r
e
ab
o
u
t
UAVs,
h
o
wev
er
,
b
ein
g
a
s
y
s
tem
atic
m
eth
o
d
o
l
o
g
y
of
s
cien
tific
r
ev
iew,
no
r
esear
ch
h
as
b
ee
n
f
o
u
n
d
on
th
is
to
p
ic
,
wh
ich
is
v
er
y
r
ele
v
an
t
in
ec
o
n
o
m
ic
an
d
s
o
cial
ter
m
s
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
is
s
tu
d
y
was
f
in
an
ce
d
by
b
o
th
C
o
o
r
d
e
n
aç
ão
de
Ap
er
f
eiç
o
am
en
to
de
Pes
s
o
al
de
Nıv
el
Su
p
er
io
r
,
B
r
az
il
(
C
APES)
–
Fin
an
ce
C
o
d
e
001,
an
d
Natio
n
al
C
o
u
n
c
il
f
o
r
Scien
tific
an
d
T
ec
h
n
o
lo
g
ical
Dev
elo
p
m
e
n
t
(
C
NPq
)
–
B
r
az
il.
RE
F
E
R
E
NC
E
S
[1
]
“
ONS
-
Op
e
ra
d
o
r
Na
c
io
n
a
l
do
S
istem
a
El
tri
c
o
.
”
h
tt
p
:/
/
o
n
s.
o
rg
.
b
r/p
a
g
in
a
s/so
b
re
-
o
-
si
n
/o
-
siste
m
a
e
m
-
n
u
m
e
ro
s
(a
c
c
e
s
se
d
Ju
ly
15,
2
0
1
9
).
[2
]
G.
C.
d
a
S
il
v
a
a
n
d
M.
M
u
n
a
ro
,
“
S
p
e
c
ifi
c
a
ti
o
n
s
o
f
An
Ad
e
q
u
a
te
S
y
ste
m
fo
r
Cli
m
b
i
n
g
P
o
les
(
in
P
o
r
tu
g
u
e
se
:
Esp
e
c
ifi
c
a
ç
õ
e
s
d
e
Um
A
d
e
q
u
a
d
o
S
istem
a
P
a
ra
Esc
a
lad
a
e
m
P
o
ste
s
),
”
S
e
min
á
ri
o
Na
c
io
n
a
l
d
e
Distrib
u
içã
o
d
e
En
e
rg
ia
El
é
trica
(
S
ENDI
)
,
Oli
n
d
a
-
P
e
rn
a
m
b
u
c
o
,
Bra
z
il
,
2
0
0
8
.
[3
]
P
a
rsifa
l.
h
tt
p
s://
p
a
rsif.
a
l
(a
c
c
e
ss
e
d
M
a
rc
h
2,
2
0
1
9
).
[4
]
B.
Kitch
e
n
h
a
m
,
“
P
r
o
c
e
d
u
re
s
f
o
r
p
e
rfo
rm
in
g
sy
ste
m
a
ti
c
re
v
iew
s,
”
Ke
e
le
Un
iv
e
rsity
,
Ke
e
le,
UK,
NI
CTA
Tec
h
n
ica
l
Re
p
o
rt
0
4
0
0
0
1
1
T.
1
,
2
0
0
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
3
3
–
243
242
[5
]
T.
Dy
b
a
,
T.
Din
g
so
y
r,
a
n
d
G.
K.
Ha
n
ss
e
n
,
“
Ap
p
l
y
in
g
S
y
ste
m
a
ti
c
Re
v
iew
s
to
Di
v
e
rse
S
tu
d
y
Ty
p
e
s:
An
E
x
p
e
rien
c
e
Re
p
o
rt,
”
in
F
irst
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
siu
m
on
Emp
iric
a
l
S
o
ft
w
a
r
e
En
g
i
n
e
e
rin
g
a
n
d
M
e
a
s
u
re
me
n
t
(ES
E
M
2
0
0
7
)
,
M
a
d
rid
,
2
0
0
7
,
pp.
2
2
5
-
2
3
4
.
[6
]
L.
D.
V.
Rib
e
ir
o
,
et
al
.,
“
Visu
a
l
S
e
rv
o
Co
n
tro
l
in
Qu
a
d
r
o
to
r
fo
r
P
o
we
r
Li
n
e
Trac
k
i
n
g
,
”
in
Pro
c
e
e
d
in
g
s
of
1
0
t
h
In
ter
n
a
t
io
n
a
l
M
icr
o
‐
A
ir
Veh
icle
s
Co
n
fer
e
n
c
e
,
2
0
1
8
.
[7
]
X.
Zh
a
n
g
,
et
al
.,
“
A
b
i
n
o
c
u
lar
v
i
sio
n
b
a
se
d
a
u
x
il
iary
n
a
v
i
g
a
ti
o
n
sy
ste
m
of
th
e
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
fo
r
p
o
we
r
li
n
e
in
s
p
e
c
ti
o
n
,
”
in
2
0
1
6
3
r
d
In
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
S
y
ste
ms
a
n
d
In
fo
rm
a
ti
c
s
(IC
S
AI)
,
S
h
a
n
g
h
a
i,
2
0
1
6
,
p
p
.
291
-
2
9
6
.
[8
]
X.
Hu
i,
e
t
a
l
.
,
“
A
m
o
n
o
c
u
lar
-
b
a
se
d
n
a
v
ig
a
ti
o
n
a
p
p
r
o
a
c
h
f
o
r
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
sa
fe
a
n
d
a
u
t
o
n
o
m
o
u
s
tran
sm
issio
n
-
li
n
e
in
s
p
e
c
ti
o
n
,
”
In
t
e
rn
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
R
o
b
o
ti
c
S
y
ste
ms
,
v
o
l.
1
6
,
n
o
.
1
,
2
0
1
9
.
[9
]
L.
F.
L
u
q
u
e
-
Ve
g
a
,
et
al
.,
“
P
o
we
r
li
n
e
in
s
p
e
c
ti
o
n
v
ia
an
u
n
m
a
n
n
e
d
a
e
rial
sy
ste
m
b
a
se
d
on
th
e
q
u
a
d
r
o
to
r
h
e
li
c
o
p
ter,
”
in
M
EL
ECON
2
0
1
4
-
2
0
1
4
1
7
t
h
I
EE
E
M
e
d
it
e
rr
a
n
e
a
n
El
e
c
tro
tec
h
n
ica
l
Co
n
fer
e
n
c
e
,
Be
iru
t,
2
0
1
4
,
pp.
3
9
3
-
3
9
7
.
[1
0
]
A.
Zo
rm
p
a
s
et
al
.,
“
P
o
we
r
Tran
sm
issio
n
Li
n
e
s
In
s
p
e
c
ti
o
n
u
sin
g
P
ro
p
e
rl
y
Eq
u
i
p
p
e
d
U
n
m
a
n
n
e
d
Ae
rial
Ve
h
icle
(UA
V),
”
in
2
0
1
8
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
on
Im
a
g
i
n
g
S
y
ste
ms
and
T
e
c
h
n
i
q
u
e
s
(I
S
T
)
,
Kra
k
o
w,
2
0
1
8
,
p
p
.
1
-
5
[1
1
]
C.
De
n
g
,
J.
Li
u
,
Y.
Li
u
a
n
d
Y.
Tan
,
“
Re
a
l
ti
m
e
a
u
to
n
o
m
o
u
s
tr
a
n
sm
issio
n
li
n
e
fo
ll
o
wi
n
g
s
y
ste
m
fo
r
q
u
a
d
r
o
to
r
h
e
li
c
o
p
ters
,
”
in
2
0
1
6
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
on
S
m
a
rt
Gr
id
and
Clea
n
En
e
r
g
y
T
e
c
h
n
o
l
o
g
i
e
s
(ICS
GCE)
,
Ch
e
n
g
d
u
,
2
0
1
6
,
pp.
61
-
64
.
[1
2
]
P.
Ha
m
e
li
n
,
et
al
.,
“
Disc
re
te
-
ti
m
e
c
o
n
tr
o
l
of
Li
n
e
Dro
n
e
:
An
a
ss
isted
trac
k
i
n
g
a
n
d
lan
d
i
n
g
UAV
fo
r
l
iv
e
p
o
we
r
li
n
e
in
sp
e
c
ti
o
n
a
n
d
m
a
in
ten
a
n
c
e
,
”
in
2
0
1
9
I
n
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
on
Un
ma
n
n
e
d
Ai
rc
ra
ft
S
y
ste
ms
(ICUAS
)
,
Atlan
ta,
G
A,
USA,
2
0
1
9
,
pp.
2
9
2
-
2
9
8
.
[1
3
]
Y.
Wu
,
et
al
.,
“
Ov
e
rh
e
a
d
Tra
n
sm
issio
n
Li
n
e
P
a
ra
m
e
ter
Re
c
o
n
stru
c
ti
o
n
fo
r
UAV
In
sp
e
c
ti
o
n
Ba
se
d
on
T
u
n
n
e
li
n
g
M
a
g
n
e
to
re
sisti
v
e
S
e
n
so
rs
a
n
d
In
v
e
rse
M
o
d
e
ls,
”
I
EE
E
T
ra
n
sa
c
ti
o
n
s
on
P
o
we
r
De
li
v
e
ry
,
v
o
l.
3
4
,
n
o
.
3,
p
p
.
8
1
9
-
8
2
7
,
2
0
1
9
.
[1
4
]
G
.
Zh
o
u
,
e
t
a
l
.
,
“
Ro
b
u
st
re
a
l
-
ti
m
e
UA
V
b
a
se
d
p
o
we
r
li
n
e
d
e
te
c
ti
o
n
a
n
d
trac
k
i
n
g
,
”
in
2
0
1
6
I
E
EE
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ima
g
e
Pro
c
e
ss
in
g
(ICIP
)
,
P
h
o
e
n
i
x
,
AZ
,
2
0
1
6
,
p
p
.
7
4
4
-
7
4
8
.
[1
5
]
X.
Xie
,
e
t
a
l
.
,
“
A
m
u
lt
i
p
le
se
n
so
rs
p
latf
o
rm
m
e
th
o
d
f
o
r
p
o
we
r
li
n
e
in
sp
e
c
ti
o
n
b
a
se
d
o
n
a
la
rg
e
u
n
m
a
n
n
e
d
h
e
li
c
o
p
ter,”
S
e
n
so
rs
,
v
o
l.
1
7
,
n
o
.
6
,
2
0
1
7
.
[1
6
]
C.
De
n
g
,
e
t
a
l
.
,
“
Un
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
fo
r
p
o
we
r
li
n
e
in
s
p
e
c
ti
o
n
:
A
c
o
o
p
e
ra
ti
v
e
wa
y
i
n
p
latfo
rm
s
a
n
d
c
o
m
m
u
n
ica
ti
o
n
s,”
J
.
Co
mm
u
n
,
v
o
l.
9
,
n
o
.
9
,
p
p
.
6
8
7
-
6
9
2
,
2
0
1
4
.
[1
7
]
O.
A.
M
e
n
e
n
d
e
z
,
M
.
P
e
re
z
,
a
n
d
F
.
A.
A
u
a
t
C
h
e
e
in
,
“
Visio
n
b
a
se
d
i
n
sp
e
c
ti
o
n
o
f
tra
n
sm
issio
n
li
n
e
s
u
s
in
g
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s,”
i
n
2
0
1
6
IEE
E
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
u
l
ti
se
n
so
r
F
u
sio
n
a
n
d
In
te
g
ra
ti
o
n
fo
r
In
tel
li
g
e
n
t
S
y
ste
ms
(M
FI)
,
Ba
d
e
n
-
Ba
d
e
n
,
2
0
1
6
,
p
p
.
4
1
2
-
4
1
7
.
[1
8
]
M
.
G
e
rk
e
a
n
d
P
.
S
e
i
b
o
l
d
,
“
Visu
a
l
in
sp
e
c
ti
o
n
o
f
p
o
we
r
li
n
e
s
b
y
U.A.S
.
,
”
i
n
2
0
1
4
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
a
n
d
Exp
o
siti
o
n
o
n
El
e
c
trica
l
a
n
d
P
o
w
e
r E
n
g
i
n
e
e
rin
g
(E
PE
)
,
Ia
si,
2
0
1
4
,
p
p
.
1
0
7
7
-
1
0
8
2
.
[1
9
]
O.
Ara
a
r
a
n
d
N.
Ao
u
f,
“
Visu
a
l
se
rv
o
in
g
o
f
a
Qu
a
d
ro
t
o
r
UA
V
f
o
r
a
u
to
n
o
m
o
u
s
p
o
we
r
li
n
e
s
i
n
s
p
e
c
ti
o
n
,
”
in
2
2
n
d
M
e
d
it
e
rr
a
n
e
a
n
C
o
n
fer
e
n
c
e
o
n
C
o
n
tro
l
a
n
d
A
u
to
m
a
ti
o
n
,
P
a
lerm
o
,
2
0
1
4
,
p
p
.
1
4
1
8
-
1
4
2
4
.
[2
0
]
F
.
G
a
o
,
e
t
a
l
.
,
“
A
n
o
v
e
l
in
v
e
rse
m
e
th
o
d
fo
r
a
u
to
m
a
ti
c
UA
V
li
n
e
p
a
tro
ll
i
n
g
wit
h
m
a
g
n
e
ti
c
se
n
so
rs,
”
in
2
0
1
8
IE
EE
In
ter
n
a
t
io
n
a
l
S
y
mp
o
si
u
m
o
n
El
e
c
tro
ma
g
n
e
ti
c
Co
mp
a
ti
b
i
li
ty
a
n
d
2
0
1
8
IE
EE
Asia
-
Pa
c
if
ic
S
y
mp
o
si
u
m
o
n
El
e
c
tro
ma
g
n
e
ti
c
Co
mp
a
ti
b
il
it
y
(E
M
C/A
PE
M
C)
,
S
in
g
a
p
o
re
,
2
0
1
8
,
p
p
.
4
8
1
-
4
8
5
.
[2
1
]
W.
C
h
a
n
g
,
e
t
a
l
.
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
p
o
we
r
li
n
e
i
n
sp
e
c
ti
o
n
ro
b
o
t
with
h
y
b
ri
d
o
p
e
ra
ti
o
n
m
o
d
e
s,”
in
2
0
1
7
I
EE
E/
R
S
J
In
ter
n
a
t
io
n
a
l
C
o
n
f
e
re
n
c
e
o
n
I
n
tel
li
g
e
n
t
Ro
b
o
ts
a
n
d
S
y
ste
ms
(IR
OS
)
,
Va
n
c
o
u
v
e
r,
BC,
2
0
1
7
,
p
p
.
9
7
3
-
9
7
8
.
[2
2
]
P
.
Rich
a
rd
,
N.
P
o
u
l
io
t,
a
n
d
S
.
M
o
n
tam
b
a
u
lt
,
“
I
n
tro
d
u
c
ti
o
n
o
f
a
LIDAR
-
b
a
se
d
o
b
sta
c
le
d
e
tec
ti
o
n
sy
ste
m
o
n
th
e
Li
n
e
S
c
o
u
t
p
o
we
r
li
n
e
ro
b
o
t,
”
in
2
0
1
4
IE
EE
/A
S
M
E
I
n
ter
n
a
t
io
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Ad
v
a
n
c
e
d
In
telli
g
e
n
t
M
e
c
h
a
tro
n
ics
,
Be
sa
c
o
n
,
2
0
1
4
,
p
p
.
1
7
3
4
-
1
7
4
0
.
[2
3
]
S
.
Re
n
,
e
t
a
l
.
,
“
F
a
ste
r
R
-
CNN
:
T
o
wa
rd
s
re
a
l
-
ti
m
e
o
b
jec
t
d
e
tec
ti
o
n
with
re
g
i
o
n
p
r
o
p
o
sa
l
n
e
two
rk
s
,
”
in
A
d
v
a
n
c
e
s
i
n
n
e
u
ra
l
in
f
o
rm
a
ti
o
n
p
ro
c
e
ss
in
g
sy
ste
ms
,
2
0
1
5
,
p
p
.
9
1
-
9
9
.
[2
4
]
C.
R.
P
a
u
l,
I
n
tro
d
u
c
ti
o
n
to
e
lec
tr
o
ma
g
n
e
ti
c
c
o
mp
a
ti
b
il
it
y
,
v
o
l.
1
8
4
,
Ho
b
o
k
e
n
,
NJ
:
Jo
h
n
Wi
ley
&
S
o
n
s,
2
0
0
6
[2
5
]
J.
F
.
He
n
riq
u
e
s,
R.
Ca
se
iro
,
P
.
M
a
rti
n
s
a
n
d
J.
Ba
ti
sta
,
“
Hig
h
-
S
p
e
e
d
Trac
k
in
g
with
Ke
rn
e
li
z
e
d
C
o
rr
e
latio
n
F
il
ters
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Pa
t
ter
n
An
a
lys
is a
n
d
M
a
c
h
in
e
In
telli
g
e
n
c
e
,
v
o
l.
3
7
,
n
o
.
3
,
p
p
.
5
8
3
-
5
9
6
,
2
0
1
5
.
[2
6
]
I.
P
it
a
s
a
n
d
A.
N.
Ve
n
e
tsa
n
o
p
o
u
l
o
s,
“
Ed
g
e
De
tec
to
rs
Ba
se
d
o
n
No
n
li
n
e
a
r
F
il
ters
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
P
a
tt
e
rn
An
a
lys
is
a
n
d
M
a
c
h
i
n
e
In
tell
ig
e
n
c
e
,
v
o
l
.
P
AMI
-
8
,
n
o
.
4
,
p
p
.
5
3
8
-
5
5
0
,
Ju
l
y
1
9
8
6
.
[2
7
]
J.
Ca
n
n
y
,
“
A
C
o
m
p
u
tatio
n
a
l
A
p
p
ro
a
c
h
to
E
d
g
e
De
tec
ti
o
n
,
”
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Pa
t
ter
n
An
a
lys
is
a
n
d
M
a
c
h
i
n
e
In
telli
g
e
n
c
e
,
v
o
l.
P
A
M
I
-
8
,
n
o
.
6
,
p
p
.
6
7
9
-
6
9
8
,
No
v
.
1
9
8
6
.
[2
8
]
“
Ga
z
e
b
o
S
imu
latio
n
.
”
Dro
n
e
c
o
d
e
.
h
tt
p
s://
d
e
v
.
p
x
4
.
io
/v
1
.
9
.
0
/en
/sim
u
latio
n
/g
a
z
e
b
o
.
h
tml
(a
c
c
e
ss
e
d
M
a
y
5,
2
0
1
9
).
[2
9
]
W.
M.
M
a
rti
n
s,
et
al
.,
“
A
c
o
m
p
u
ter
v
isio
n
b
a
se
d
a
lg
o
ri
th
m
fo
r
o
b
sta
c
le
a
v
o
id
a
n
c
e
,
”
In
fo
rm
a
t
io
n
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