I
nte
rna
t
io
na
l J
o
urna
l o
f
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
,
p
p
.
2
5
1
~2
5
5
I
SS
N:
2089
-
4
8
5
6
,
DOI
:
1
0
.
1
1
5
9
1
/
i
jr
a
.
v
9
i
4
.
pp
2
5
1
-
2
5
5
251
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
O
f
fline
d
ro
ne ins
t
rumenta
lized
am
bula
nce f
o
r
emer
g
ency
situa
tions
H
it
esh
M
o
ha
pa
t
ra
De
p
a
rtme
n
t
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
E
n
g
in
e
e
rin
g
,
Ko
n
e
ru
Lak
sh
m
a
iah
Ed
u
c
a
ti
o
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F
o
u
n
d
a
ti
o
n
,
In
d
ia
De
p
a
rtme
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t
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
E
n
g
in
e
e
rin
g
,
VS
S
Un
i
v
e
rsity
,
In
d
ia
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
y
5
,
2
0
20
R
ev
is
ed
J
u
n
7
,
2
0
20
Acc
ep
ted
Au
g
4
,
2
0
20
In
th
is
p
a
p
e
r,
a
n
o
ffli
n
e
d
ro
n
e
in
stru
m
e
n
talize
d
a
m
b
u
lan
c
e
(OD
IA)
m
e
c
h
a
n
ism
h
a
s
b
e
e
n
d
isc
u
ss
e
d
.
Th
e
ra
p
i
d
in
c
re
a
se
in
th
e
u
rb
a
n
p
o
p
u
lati
o
n
d
irec
tl
y
in
f
lu
e
n
c
e
s
e
v
e
r
y
se
c
to
r
o
f
so
c
iet
y
.
Th
e
se
c
to
rs
a
re
m
a
y
b
e
f
o
o
d
,
h
e
a
lt
h
c
a
re
,
e
d
u
c
a
ti
o
n
,
tra
n
sp
o
r
t
a
ti
o
n
,
e
tc.
No
rm
a
ll
y
,
i
t
h
a
s
b
e
e
n
o
b
se
rv
e
d
th
a
t
wh
e
n
a
n
y
a
c
c
id
e
n
ts
h
a
p
p
e
n
o
n
t
h
e
u
r
b
a
n
r
o
a
d
o
r
a
n
y
re
m
o
te
p
l
a
c
e
s
th
e
n
,
th
e
a
v
a
il
a
b
il
i
ty
o
f
imm
e
d
iate
m
e
d
ica
l
h
e
lp
is
v
e
r
y
ra
re
.
It
is
n
o
t
b
e
c
a
u
se
o
f
th
e
u
n
a
wa
re
o
r
u
n
a
v
a
il
a
b
i
li
ty
o
f
m
e
d
ica
l
fa
c
il
it
ies
ra
th
e
r
it
h
a
p
p
e
n
s
b
e
c
a
u
se
o
f
o
v
e
rc
ro
wd
in
g
o
n
th
e
u
r
b
a
n
r
o
a
d
a
n
d
g
e
o
g
ra
p
h
ica
l
o
d
d
is
o
latio
n
o
f
p
lac
e
s.
He
n
c
e
,
h
e
re
a
n
OD
IA
c
o
n
c
e
p
t
h
a
s
b
e
e
n
d
isc
u
ss
e
d
w
h
ich
u
se
s
o
f
fli
n
e
m
a
p
s
a
n
d
o
ffli
n
e
first
-
a
id
m
e
d
ica
l
v
i
d
e
o
s
th
ro
u
g
h
wh
ich
imm
e
d
iate
m
e
d
ica
l
h
e
lp
c
a
n
b
e
m
a
d
e
a
v
a
i
lab
le
a
t
th
e
p
a
ti
e
n
t
e
n
d
.
Th
is
m
o
d
e
l
h
e
lp
s
to
sa
v
e
th
e
li
fe
o
f
a
n
a
c
c
id
e
n
t
v
ictim
b
y
p
ro
v
id
i
n
g
imm
e
d
iate
m
e
d
ica
l
a
tt
e
n
ti
o
n
.
Th
e
k
e
y
s
tren
g
th
o
f
OD
IA
is,
it
is
in
d
e
p
e
n
d
e
n
t
o
f
in
tern
e
t
se
rv
ice
th
a
t
is
wh
y
it
is
m
o
re
su
it
a
b
le f
o
r
h
a
rsh
a
n
d
h
o
stil
e
e
n
v
iro
n
m
e
n
ts.
K
ey
w
o
r
d
s
:
Acc
id
en
ts
Am
b
u
lan
ce
Dr
o
n
e
E
m
er
g
en
c
y
Me
d
ical
h
elp
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Hitesh
Mo
h
ap
atr
a,
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
Scie
n
ce
an
d
E
n
g
in
ee
r
in
g
,
Vee
r
Su
r
en
d
r
a
Sai U
n
iv
er
s
ity
o
f
T
ec
h
n
o
lo
g
y
,
B
u
r
la,
Sam
b
alp
u
r
,
O
d
is
h
a,
I
n
d
ia,
7
6
8
0
1
8
.
E
m
ail: h
ites
h
m
ah
ap
atr
a@
g
m
a
il.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
am
b
u
lan
c
e
is
a
v
eh
icle
th
at
is
m
ed
ically
eq
u
ip
p
ed
to
ca
r
r
y
th
e
p
atien
t
f
r
o
m
t
h
e
s
o
u
r
c
e
p
o
in
t
to
th
e
h
o
s
p
itals
.
So
m
etim
es,
th
e
o
u
td
o
o
r
p
atien
t
also
g
ets
tr
ea
t
ed
th
r
o
u
g
h
th
e
am
b
u
la
n
ce
s
er
v
ices.
I
n
1
4
8
7
,
f
o
r
th
e
f
ir
s
t
tim
e,
th
e
am
b
u
lan
ce
h
as
b
ee
n
u
s
ed
as
an
em
er
g
en
cy
s
er
v
ice
in
Sp
ain
[
1
]
.
T
h
e
r
ap
id
s
h
if
tin
g
o
f
th
e
r
u
r
al
p
o
p
u
latio
n
to
war
d
s
th
e
u
r
b
an
a
r
ea
is
an
alar
m
in
g
s
itu
atio
n
f
o
r
th
e
s
m
ar
t
city
p
lan
n
e
r
an
d
d
esig
n
er
[
2
]
.
I
t
h
as
b
ee
n
p
r
ed
icted
th
at
b
y
2
0
3
0
,
7
0
%
o
f
th
e
t
o
tal
p
o
p
u
latio
n
will
p
r
e
f
er
to
s
tay
in
u
r
b
a
n
p
lace
s
f
o
r
b
etter
ac
ce
s
s
ib
ilit
y
o
f
th
e
g
o
o
d
s
a
n
d
s
er
v
ices
[
3
]
.
T
h
e
g
r
ad
u
al
i
n
cr
ea
s
e
in
th
e
d
en
s
ity
le
v
el
o
f
u
r
b
an
ites
d
ir
ec
tly
in
f
lu
e
n
ce
s
s
ev
er
al
s
ec
to
r
s
o
f
s
o
ciety
s
u
ch
as
f
o
o
d
,
ed
u
ca
tio
n
,
h
ea
lth
ca
r
e,
tr
an
s
p
o
r
tatio
n
,
etc
.
I
n
tr
an
s
p
o
r
tatio
n
,
it
ca
n
b
e
ea
s
ily
o
b
s
er
v
ed
th
e
m
u
ltip
lied
g
r
o
w
th
o
f
v
eh
icles
o
n
u
r
b
an
r
o
ad
s
[
4
]
.
T
h
is
v
o
lca
n
ic
g
r
o
wth
o
f
v
eh
icles
cr
e
ates
m
an
y
m
ajo
r
p
r
o
b
lem
s
s
u
ch
as
air
p
o
llu
tio
n
,
tr
a
f
f
ic
co
n
g
esti
o
n
,
n
o
is
e
p
o
llu
tio
n
,
etc.
I
n
th
is
cr
o
wd
,
if
an
y
ac
cid
en
t
h
ap
p
en
s
th
en
it
is
m
er
ely
p
o
s
s
ib
le,
th
at
th
e
am
b
u
lan
ce
wil
l
r
ea
ch
o
n
tim
e
to
h
elp
th
e
ac
cid
e
n
t
v
ictim
.
T
h
o
u
g
h
th
e
am
b
u
la
n
ce
d
e
p
ar
ts
o
n
tim
e
f
r
o
m
th
e
h
o
s
p
itals
b
u
t
d
u
e
to
o
v
er
cr
o
w
d
in
g
o
n
th
e
r
o
ad
it
is
v
e
r
y
d
if
f
ic
u
lt
to
r
ea
ch
o
n
tim
e
at
t
h
e
r
eq
u
ir
e
d
d
esti
n
atio
n
.
As
a
co
n
s
eq
u
en
ce
,
m
an
y
liv
es
g
et
lo
s
t.
Hen
ce
,
in
th
is
p
ap
er
,
a
d
r
o
n
e
-
b
ased
am
b
u
lan
ce
s
y
s
tem
h
as
b
ee
n
p
r
o
p
o
s
ed
to
r
ea
c
h
th
e
tar
g
et
p
o
in
t
with
m
in
im
u
m
m
e
d
ical
s
u
p
p
lies
.
T
h
is
ca
n
h
elp
to
d
r
ag
t
h
e
lif
etim
e
o
f
th
e
v
ictim
u
n
til
th
e
am
b
u
lan
ce
a
r
r
iv
ed
.
Fig
u
r
e
1
illu
s
tr
ates
th
e
p
r
o
to
ty
p
e
o
f
a
d
r
o
n
e
m
o
d
el
to
ca
r
r
y
t
h
e
m
ed
ical
b
o
x
f
o
r
th
e
s
o
u
r
ce
to
th
e
tar
g
et
p
o
in
t.
T
h
e
d
r
o
n
e
tr
ac
k
s
em
e
r
g
en
c
y
c
alls
an
d
u
s
es
GPS
to
n
av
ig
ate
to
th
e
e
m
er
g
e
n
cy
l
o
ca
tio
n
.
T
h
e
d
r
o
n
e
am
b
u
lan
ce
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
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5
6
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
5
1
–
2
5
5
252
is
th
e
in
teg
r
atio
n
o
f
t
h
r
ee
c
o
m
p
o
n
e
n
ts
s
u
ch
as
liv
e
-
s
tr
ea
m
web
ca
m
,
f
ir
s
t
-
aid
b
o
x
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a
n
d
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS)
u
n
it.
Fig
u
r
e
1
il
lu
s
tr
ates
th
e
m
o
d
el
o
f
u
n
m
an
n
ed
ae
r
ial
v
eh
icles
(
UAV)
o
r
d
r
o
n
e
f
o
r
an
o
f
f
lin
e
d
r
o
n
e
i
n
s
tr
u
m
en
talized
am
b
u
l
an
ce
(
ODI
A
)
.
Fig
u
r
e
1
.
DJI
Ph
an
t
o
m
3
d
r
o
n
e
3
D
C
AD
m
o
d
el
f
o
r
Au
to
C
AD
2.
L
I
T
E
R
AT
U
RE
R
E
VI
E
W
Nea
r
ly
a
m
illi
o
n
I
n
d
ian
s
s
u
f
f
er
f
r
o
m
ac
cid
e
n
ts
ea
ch
y
ea
r
,
an
d
o
n
ly
8
%
will
s
u
r
v
iv
e.
T
h
is
m
ain
ly
h
ap
p
en
s
b
ec
au
s
e
m
o
s
t
o
f
th
e
tim
e
am
b
u
la
n
ce
s
will
n
o
t
b
e
ab
le
to
r
ea
ch
o
n
tim
e
d
u
e
to
h
ea
v
y
tr
af
f
ic
o
n
th
e
r
o
ad
.
So
,
b
y
av
o
id
in
g
t
h
e
tr
af
f
ic
o
f
th
e
r
o
a
d
th
e
d
r
o
n
e
ca
n
f
l
y
u
p
to
th
e
tar
g
et
p
o
in
t
th
r
o
u
g
h
wh
ich
im
m
ed
iate
m
ed
ical
atten
tio
n
ca
n
b
e
p
r
o
v
id
ed
to
th
e
v
ictim
.
I
n
th
is
lin
e
o
f
th
o
u
g
h
t,
f
ew
ex
am
p
le
s
ar
e
av
ailab
le
f
o
r
s
h
o
wca
s
e
s
u
ch
as
d
r
o
n
e
am
b
u
lan
ce
f
o
r
ca
r
d
iac
ar
r
est
[
5
]
.
T
h
e
d
r
o
n
e
o
r
UAV
ca
n
p
lay
a
s
ig
n
if
ican
t
r
o
le
in
t
h
e
v
ar
io
u
s
r
em
o
te
ap
p
licatio
n
s
s
u
ch
as
m
ilit
ar
y
,
ag
r
icu
ltu
r
e,
p
r
o
d
u
ct
d
eliv
e
r
y
,
an
d
m
ed
ical
[
6
]
.
Air
tr
an
s
p
o
r
t
is
m
o
r
e
ef
f
icien
t
th
an
g
r
o
u
n
d
tr
an
s
p
o
r
t
as
it
d
o
esn
’
t
f
ac
e
g
r
o
u
n
d
lev
el
r
estrictio
n
s
.
T
h
e
p
r
i
m
ar
y
b
en
e
f
it
o
f
air
tr
an
s
p
o
r
t
is
it
ca
n
r
ea
ch
to
th
e
in
ac
ce
s
s
ib
le
zo
n
es.
As
ev
er
y
co
in
h
as
two
s
id
es
,
th
e
air
tr
a
n
s
p
o
r
t
also
h
a
s
f
ew
co
n
s
tr
ain
ts
s
u
ch
as it i
s
d
ep
en
d
en
t u
p
o
n
wea
th
er
co
n
d
itio
n
s
,
it is
co
m
p
atib
le
with
lo
w
lo
ad
tr
an
s
m
is
s
io
n
an
d
it
is
h
ig
h
ly
co
s
tly
.
Hen
ce
,
d
r
o
n
e
-
b
ased
tr
an
s
p
o
r
tatio
n
ca
n
n
o
t
b
e
af
f
o
r
d
a
b
le
f
o
r
d
aily
u
s
es
wh
er
ea
s
it
ca
n
b
e
u
s
ed
at
th
e
tim
e
o
f
em
e
r
g
en
c
y
.
T
h
e
u
s
e
o
f
th
e
d
r
o
n
e
f
o
r
civ
il
ap
p
licatio
n
s
h
as
s
tar
ted
a
n
ew
m
ed
iu
m
o
f
t
r
an
s
p
o
r
tatio
n
[
7
]
.
T
h
e
tr
an
s
p
o
r
tatio
n
o
f
g
o
o
d
s
,
b
lo
o
d
f
o
r
t
h
e
p
atien
t,
ca
p
tu
r
in
g
o
f
i
m
ag
es
o
f
u
n
ev
e
n
p
lace
s
(
ex
.
C
o
v
id
-
1
9
t
r
ac
k
in
g
)
,
etc.
ar
e
m
ad
e
p
o
s
s
ib
le
th
r
o
u
g
h
d
r
o
n
e
[8
,
9
]
.
No
wad
ay
s
,
th
e
d
r
o
n
e
is
av
ailab
le
with
a
co
s
t
o
f
10
–
15
K
th
at
ca
n
f
ly
u
p
to
5
–
7
k
m
.
T
h
e
g
r
o
win
g
u
s
e
o
f
d
r
o
n
es
i
n
s
ev
er
al
d
o
m
ain
s
b
r
in
g
s
m
an
y
r
estrictio
n
s
f
o
r
th
e
o
p
er
atin
g
o
f
a
d
r
o
n
e.
T
h
ese
r
u
les
m
o
s
tly
ass
o
ciate
with
th
e
weig
h
t
o
f
t
h
e
d
r
o
n
e.
B
ased
o
n
th
e
weig
h
t
th
e
d
r
o
n
e
o
wn
er
m
u
s
t
h
av
e
a
licen
s
e
to
f
ly
t
h
e
d
r
o
n
e.
T
h
e
f
ir
s
t
-
ev
e
r
civ
ilian
u
s
e
o
f
a
d
r
o
n
e
ca
n
b
e
v
iewe
d
at
“
Haiti
”
to
g
au
g
e
th
e
s
er
io
u
s
n
ess
o
f
an
ea
r
th
q
u
a
k
e
[
1
0
]
.
An
o
th
er
e
x
am
p
le
o
f
d
r
o
n
e
u
s
e
is
th
e
Palo
Fes
tiv
al
in
Ny
o
n
in
2
0
1
2
[
9
]
.
No
wad
ay
s
,
th
e
u
s
e
o
f
th
e
d
r
o
n
e
is
v
er
y
m
u
ch
c
o
m
m
o
n
in
m
a
n
y
ev
en
ts
m
o
s
tly
at
th
e
g
r
an
d
p
ar
ties
an
d
ev
en
ts
.
T
h
e
m
ass
p
r
o
d
u
ctio
n
o
f
d
r
o
n
e
s
m
ak
es
ab
le
to
b
r
in
g
th
e
p
r
ice
to
an
a
f
f
o
r
d
ab
le
s
tate.
T
h
e
UAV
also
h
elp
s
in
r
escu
e
o
p
er
atio
n
s
,
f
o
r
ex
am
p
l
e
:
1
)
J
an
u
ar
y
o
f
2
0
1
9
a
s
ea
r
c
h
an
d
r
escu
e
team
in
Sn
o
wy
C
an
y
o
n
State
Par
k
,
Utah
,
2
)
J
an
u
ar
y
,
8
8
-
y
ea
r
-
o
ld
L
u
is
R
ey
n
a
Z
u
n
ig
a
was
r
ep
o
r
ted
m
is
s
in
g
af
ter
leav
in
g
h
is
h
o
m
e
in
B
r
o
wn
s
v
ille,
T
ex
as,
3
)
Ap
r
il
o
f
2
0
1
8
,
th
e
Dalv
ik
Sear
ch
&
R
escu
e
T
ea
m
u
s
ed
a
d
r
o
n
e
to
f
in
d
two
co
u
s
in
s
wh
o
wer
e
s
tr
an
d
e
d
o
n
th
e
s
id
e
o
f
a
s
teep
m
o
u
n
tain
i
n
Dalv
ik
,
I
ce
lan
d
,
etc.
[
1
1
]
.
As
ea
r
lier
d
is
cu
s
s
ed
th
e
UAV
is
u
s
ed
in
m
a
n
y
d
o
m
ai
n
s
,
o
n
e
s
u
ch
ex
a
m
p
le
wh
er
e
f
o
r
th
e
f
ir
s
t
tim
e
th
e
d
r
u
g
s
h
a
v
e
b
ee
n
tr
an
s
f
er
r
e
d
b
etwe
en
th
e
Ger
m
an
is
lan
d
o
f
J
u
is
t
(
No
r
th
Sea)
an
d
No
r
d
d
eich
,
a
city
l
o
ca
ted
in
th
e
n
o
r
t
h
o
f
Ger
m
a
n
y
[
1
2
]
.
I
n
th
e
m
e
d
ical
d
o
m
ai
n
,
th
e
r
e
is
an
o
th
er
ex
am
p
le
ex
is
ts
wh
ich
n
ee
d
s
to
b
e
d
is
cu
s
s
ed
to
u
n
d
er
s
tan
d
th
e
im
p
o
r
tan
ce
o
f
UAV.
T
h
e
Kar
o
lin
s
k
a
I
n
s
titu
te,
Swed
en
,
h
as
d
ep
lo
y
e
d
a
d
ef
ib
r
illato
r
t
o
UAV
to
m
o
n
it
o
r
an
d
to
h
elp
h
ea
r
t
attac
k
p
a
tien
ts
o
f
th
e
r
u
r
al
b
elts
[
1
3
,
1
4
]
.
An
o
th
er
s
tu
d
y
p
u
b
lis
h
ed
in
[
1
5
]
,
s
tates
th
at
th
e
au
to
m
ated
ex
ter
n
al
d
ef
ib
r
illato
r
(
AE
D)
b
ased
UAV
ar
e
im
p
r
o
v
i
n
g
in
s
o
lv
in
g
out
-
of
-
h
o
s
p
ital
ca
r
d
iac
ar
r
est
ca
s
es.
T
h
ese
all
ex
am
p
les
ju
s
tify
th
e
r
o
le
o
f
UAV
o
r
d
r
o
n
es
in
s
ev
er
al
em
er
g
en
cy
s
ec
to
r
s
[
1
6
–
1
8
]
.
3.
RE
S
E
ARCH
G
AP
No
r
m
ally
,
th
e
UAV
o
r
d
r
o
n
e
i
s
b
u
ilt
o
n
th
e
s
tan
d
ar
d
q
u
a
d
co
p
ter
,
wh
ich
is
d
r
iv
e
n
b
y
GPS
o
r
p
ilo
t
o
r
co
m
b
in
atio
n
o
f
b
o
th
.
I
t
is
d
esig
n
ed
with
ca
r
b
o
n
f
ib
er
s
to
k
ee
p
d
r
o
n
e
lig
h
tweig
h
t
an
d
f
o
r
p
o
wer
an
d
m
o
tio
n
,
an
elec
tr
ic
m
o
to
r
d
r
iv
e
n
b
y
b
atter
y
b
ac
k
u
p
is
u
s
e
d
.
T
h
e
d
r
o
n
e
wh
ich
is
ex
p
licitly
d
esig
n
ed
f
o
r
h
ea
lth
ca
r
e
s
ec
to
r
s
o
cc
u
p
ied
with
a
n
em
b
ed
d
ed
web
ca
m
f
o
r
liv
e
s
tr
ea
m
in
g
o
f
t
h
e
cu
r
r
en
t
s
itu
atio
n
.
C
o
u
n
tr
ies
lik
e
I
n
d
ia
o
r
an
y
o
th
er
Asi
an
co
u
n
tr
y
wh
ich
s
till
f
alls
u
n
d
er
th
e
lis
t
o
f
d
ev
elo
p
in
g
c
o
u
n
tr
ies
ar
e
lac
k
in
g
with
m
an
y
r
eso
u
r
ce
s
wh
ich
ar
e
p
r
im
ar
y
g
r
o
u
n
d
f
o
r
d
r
o
n
e
s
er
v
ice.
T
h
e
p
r
im
ar
y
g
r
o
u
n
d
f
o
r
a
d
r
o
n
e
is
h
ig
h
b
an
d
wid
th
in
ter
n
et
at
t
h
e
r
em
o
te
p
lace
s
.
No
r
m
ally
,
in
I
n
d
ia,
if
t
h
e
m
o
b
ile
g
o
es
a
f
ew
k
ilo
m
eter
s
a
way
f
r
o
m
th
e
to
w
n
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
Offlin
e
d
r
o
n
e
in
s
tr
u
men
ta
liz
ed
a
mb
u
la
n
ce
fo
r
eme
r
g
en
cy
s
itu
a
tio
n
s
(
Hitesh
Mo
h
a
p
a
tr
a
)
253
th
en
g
ettin
g
h
ig
h
-
s
p
ee
d
in
ter
n
et
is
q
u
ite
d
if
f
icu
lt.
I
n
s
u
ch
c
ases
,
liv
e
s
tr
ea
m
in
g
with
d
r
o
n
e
ca
m
er
as
is
a
b
ig
q
u
esti
o
n
an
d
also
r
is
k
y
f
o
r
t
h
e
v
ictim
.
Seco
n
d
l
y
,
th
e
ab
s
e
n
ce
o
f
th
e
in
ter
n
et
also
m
a
y
cr
ea
te
p
ath
lo
s
s
as
th
e
UAV
i
s
d
r
iv
en
b
y
GPS.
Hen
ce
,
in
th
is
p
ap
er
,
an
o
f
f
li
n
e
d
r
o
n
e
am
b
u
lan
ce
h
as
b
ee
n
p
r
o
p
o
s
ed
wh
er
e
th
e
UAV
wo
r
k
s
o
n
o
f
f
lin
e
m
ap
s
(
with
in
a
s
tip
u
lated
zo
n
e)
a
n
d
o
f
f
lin
e
m
e
d
ical
v
id
e
o
s
in
t
h
e
a
b
s
en
ce
o
f
a
liv
e
-
s
tr
ea
m
in
g
p
r
o
ce
s
s
.
4.
P
RO
P
O
SE
D
M
O
D
E
L
T
h
e
m
o
v
em
en
t
o
f
s
m
ar
t
cities
h
as
b
ee
n
in
v
ited
to
m
an
y
co
n
s
eq
u
en
ce
s
with
ad
v
an
ce
m
en
ts
.
So
,
with
th
is
ad
v
an
ce
m
en
t,
th
e
r
e
m
u
s
t
b
e
a
p
ar
allel
lin
e
to
d
ea
l
with
th
ese
n
eg
ativ
e
co
n
s
eq
u
en
ce
s
o
r
f
au
lts
[
1
9
–
2
2
]
.
I
n
th
is
s
ec
tio
n
,
th
e
p
r
o
p
o
s
ed
m
o
d
el
h
as
b
ee
n
e
x
p
lain
ed
with
d
etailed
i
n
s
ig
h
ts
.
As
ea
r
lier
s
aid
th
e
UAV
d
ev
ices
ar
e
m
o
s
tly
wo
r
k
s
o
n
GPA
an
d
liv
e
s
tr
ea
m
in
g
o
f
we
b
ca
m
.
I
n
th
e
d
ev
elo
p
in
g
c
o
u
n
tr
ies,
t
h
e
lack
o
f
in
ter
n
et
s
er
v
ice
at
ev
er
y
co
r
n
er
o
f
th
e
city
m
ay
f
ail
th
e
o
b
jectiv
e
o
f
UAV
am
b
u
lan
ce
s
.
Seco
n
d
ly
,
th
e
co
u
n
tr
y
L
ik
e
I
n
d
ia
wh
ich
s
tan
d
s
s
ec
o
n
d
in
p
o
p
u
latio
n
r
an
k
in
g
in
t
h
e
wo
r
ld
h
as
s
er
io
u
s
tr
af
f
ic
p
r
o
b
le
m
s
o
n
th
e
r
o
a
d
.
I
n
s
u
ch
cir
cu
m
s
tan
ce
s
,
if
a
n
y
ac
c
id
en
ts
h
ap
p
e
n
at
th
e
r
em
o
te
p
lace
s
lik
e
n
atio
n
al
h
ig
h
way
s
,
i
s
o
lated
r
o
ad
s
,
r
u
r
al
p
lace
s
,
o
r
s
o
m
ewh
er
e
in
th
e
m
id
o
f
r
iv
er
o
r
c
o
astal
b
elts
t
h
en
o
f
f
lin
e
d
r
o
n
e
am
b
u
lan
ce
(
ODI
A)
ca
n
im
p
r
o
v
e
th
e
m
ed
ical
s
er
v
ices
as
it
ad
o
p
ts
o
f
f
lin
e
m
ap
s
an
d
ca
r
r
ies
o
f
f
lin
e
m
ed
ical
f
ir
s
t
-
aid
v
id
eo
s
.
Fig
u
r
e
2
illu
s
tr
ates
th
e
p
r
o
p
o
s
ed
m
o
d
el.
Fig
u
r
e
2
.
Of
f
lin
e
d
r
o
n
e
am
b
u
l
an
ce
4
.
1
.
O
DIA wit
h
o
f
f
lin
e
m
a
ps
T
h
e
UAVs
ar
e
m
o
s
tly
GPS
d
r
iv
en
b
u
t
t
h
er
e
ar
e
m
an
y
lo
ca
tio
n
s
o
n
th
e
ea
r
th
wh
e
r
e
th
er
e
is
n
o
s
ig
n
in
ter
n
et
an
d
GPS
s
er
v
ices.
T
h
e
av
ailab
le
m
a
p
s
er
v
ices
f
r
o
m
Go
o
g
le,
Ap
p
le,
o
r
W
az
e,
t
h
ese
all
ar
e
in
ter
n
et
d
ep
en
d
e
n
t.
So
,
to
en
h
an
ce
th
e
s
er
v
ices
o
f
ODI
A
th
e
u
s
e
o
f
o
f
f
lin
e
m
ap
s
is
m
o
r
e
s
u
g
g
esti
b
le.
No
r
m
ally
,
th
e
f
ly
in
g
a
r
ea
o
f
d
r
o
n
e
m
o
s
tly
s
tip
u
l
ated
with
in
th
e
r
a
n
g
e
o
f
1
0
-
2
0
k
m
.
T
h
e
m
ap
o
f
a
2
0
k
m
r
a
d
iu
s
ca
n
b
e
d
o
wn
lo
ad
e
d
f
r
o
m
Go
o
g
le
M
ap
s
an
d
ca
n
b
e
u
s
ed
f
o
r
OD
I
A.
Ma
n
y
ap
p
licatio
n
s
a
r
e
a
v
ailab
le
f
r
o
m
wh
er
e
th
e
o
f
f
lin
e
m
ap
ca
n
b
e
d
o
wn
l
o
ad
ed
.
T
h
e
b
u
ilt
-
in
GPS
r
ad
io
ca
n
wo
r
k
s
s
m
o
o
th
ly
o
n
th
is
o
f
f
lin
e
m
ap
d
ata
an
d
p
r
o
v
id
es
v
er
y
clo
s
e
r
esu
lts
in
co
m
p
ar
is
o
n
to
th
e
m
ap
s
-
on
-
th
e
-
f
ly
m
eth
o
d
[
2
3
]
.
T
h
is
d
o
wn
lo
ad
ed
m
ap
ca
n
b
e
ac
tiv
e
f
o
r
3
0
d
a
y
s
u
p
o
n
ex
p
i
r
in
g
th
is
m
ap
ca
n
b
e
r
e
-
d
o
w
n
lo
ad
ed
,
o
r
a
lo
ca
l
o
f
f
lin
e
m
ap
ca
n
b
e
l
o
ad
ed
as
a
p
er
m
an
e
n
t b
asis
.
Fig
u
r
e
3
ill
u
s
tr
ates th
e
s
cr
ee
n
s
h
o
ts
o
f
o
f
f
l
in
e
m
ap
p
in
g
.
4
.
2
.
O
DIA wit
h
pre
-
lo
a
ded f
irst
a
id m
edica
l v
ideo
s
T
h
e
liv
e
s
tr
ea
m
in
g
with
t
h
e
p
atien
t
is
u
n
d
o
u
b
ted
l
y
an
ef
f
ici
en
t
m
eth
o
d
to
m
o
n
ito
r
th
e
cu
r
r
en
t
h
ea
lt
h
s
tatu
s
o
f
th
e
p
atien
t
o
r
v
ictim
.
Ho
wev
er
,
th
e
u
n
av
ailab
ili
ty
o
f
t
h
e
in
ter
n
et
at
all
th
e
p
lace
s
m
ay
lead
to
a
cr
itical
s
itu
atio
n
th
r
o
u
g
h
th
e
d
r
o
n
e
h
as
r
ea
c
h
ed
th
e
ta
r
g
et
-
s
p
o
t
o
n
tim
e.
T
h
e
n
ea
r
b
y
p
eo
p
le
o
f
th
e
v
ictim
m
a
y
n
o
t
b
e
a
m
e
d
ical
d
o
cto
r
wh
o
c
an
wo
r
k
b
y
a
v
ailin
g
th
e
f
ir
s
t
a
id
s
f
r
o
m
th
e
d
r
o
n
e.
Hen
ce
,
in
th
e
ca
s
e
o
f
ODI
A,
a
v
is
u
al
u
n
it
h
as
b
ee
n
p
r
o
v
id
e
d
wh
ich
d
is
p
lay
s
o
r
p
lay
s
th
e
p
r
e
-
lo
ad
e
d
f
i
r
s
t
-
aid
m
ed
i
ca
l
v
i
d
eo
s
.
T
h
e
s
elec
tio
n
o
f
th
ese
v
i
d
eo
s
is
d
o
n
e
u
n
d
er
th
e
g
u
id
an
ce
o
f
m
ed
ical
e
x
p
er
ts
f
o
r
e
m
er
g
en
cies.
T
h
e
a
v
a
ilab
ilit
y
o
f
o
f
f
lin
e
m
ed
ical
f
ir
s
t
aid
v
id
e
o
s
ca
n
tr
ain
th
e
n
ea
r
b
y
-
o
n
e
t
o
ac
t
as
a
d
o
cto
r
f
o
r
th
e
v
ictim
.
At
th
e
tim
e
o
f
n
ee
d
,
th
ese
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
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
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b
er
2
0
2
0
:
2
5
1
–
2
5
5
254
s
m
all
v
id
eo
s
s
ess
io
n
s
ca
n
s
av
e
th
e
life
o
f
a
liv
in
g
b
ein
g
.
Fig
u
r
e
4
[
2
4
]
illu
s
tr
ates
th
e
d
r
o
n
e
with
a
d
is
p
lay
u
n
it
wh
er
e
th
e
f
ir
s
t
-
aid
m
ed
ical
v
id
eo
s
ca
n
b
e
p
lay
e
d
.
I
n
ca
s
e
o
f
u
n
av
ailab
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y
o
f
in
ter
n
et
o
r
o
n
lin
e
v
id
e
o
s
tr
ea
m
in
g
,
th
r
o
u
g
h
th
ese
v
id
e
o
s
,
a
lay
m
an
ca
n
ac
t
as
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d
o
ct
o
r
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d
ca
n
s
av
e
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life
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liv
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b
ein
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r
at
least
ca
n
d
r
ag
th
e
life
s
p
an
f
o
r
a
f
e
w
m
o
r
e
tim
es.
I
n
t
h
e
m
ea
n
w
h
ile
o
th
er
tr
ies ca
n
b
e
d
o
n
e
to
r
ea
ch
th
e
h
o
s
p
ital.
Fig
u
r
e
3
.
Of
f
lin
e
m
ap
[
2
3
]
Fig
u
r
e
4
.
Dr
o
n
e
with
lo
ca
l
d
is
p
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u
n
it
[
2
4
]
5.
CO
NCLU
SI
O
N
T
h
e
v
o
lcan
ic
g
r
o
wth
o
f
p
o
p
u
l
atio
n
an
d
r
a
p
id
u
r
b
a
n
izatio
n
b
ec
o
m
es
th
e
b
ig
g
est
ch
allen
g
e
f
o
r
s
m
ar
t
city
p
lan
n
i
n
g
.
T
h
e
v
ar
io
u
s
s
ec
to
r
s
o
f
s
o
ciety
s
u
ch
as
ed
u
ca
tio
n
,
tr
a
n
s
p
o
r
tatio
n
,
h
ea
lth
ca
r
e
,
etc.
ar
e
d
e
p
en
d
e
n
t
u
p
o
n
th
ese
two
co
r
e
f
ac
to
r
s
s
u
ch
as
u
r
b
an
izatio
n
r
ate
an
d
p
o
p
u
latio
n
g
r
o
wth
r
ate.
T
h
e
g
r
o
wth
o
f
th
e
v
eh
icle
p
o
p
u
latio
n
o
n
th
e
u
r
b
an
r
o
a
d
b
r
i
n
g
s
m
a
n
y
p
r
o
b
lem
s
f
o
r
ef
f
icien
t
t
r
an
s
p
o
r
tatio
n
.
I
n
ca
s
e
o
f
a
m
ed
ical
em
e
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g
en
cy
,
th
e
u
r
b
a
n
r
o
ad
is
n
o
t
f
r
ee
en
o
u
g
h
f
o
r
an
am
b
u
lan
ce
wh
ich
m
ay
lead
s
to
a
cr
itical
s
itu
atio
n
f
o
r
th
e
ac
cid
en
t
v
ictim
o
r
th
e
p
ati
en
t.
B
y
co
n
s
id
er
in
g
s
u
ch
s
ce
n
ar
io
s
,
an
ODI
A
m
o
d
el
h
as
b
e
en
p
r
o
p
o
s
ed
wh
ich
tr
av
els
o
v
er
air
-
tr
a
n
s
p
o
r
tatio
n
to
th
e
tar
g
et
a
r
ea
.
Ad
d
itio
n
al
ly
,
th
e
p
r
o
p
o
s
ed
ODI
A
is
d
r
i
v
en
b
y
o
f
f
lin
e
l
o
ca
l
m
ap
s
an
d
o
cc
u
p
ied
with
o
f
f
lin
e
f
ir
s
t
-
aid
m
e
d
ical
v
id
eo
s
f
o
r
h
elp
in
g
th
e
p
atien
ts
o
r
v
ictim
s
lo
ca
ted
in
a
h
ar
s
h
an
d
h
o
s
tile
en
v
ir
o
n
m
en
t.
T
h
e
ODI
A
is
al
s
o
o
cc
u
p
ied
with
o
n
lin
e
v
id
eo
s
tr
ea
m
in
g
f
ac
ilit
y
,
b
u
t
it
o
n
ly
wo
r
k
s
wh
en
th
e
in
ter
n
et
co
n
n
ec
tio
n
p
r
o
p
er
l
y
a
v
ailab
le
o
r
else
it
w
o
r
k
s
in
th
e
o
f
f
lin
e
m
o
d
e.
T
h
is
is
th
e
k
ey
s
tr
en
g
th
o
f
th
e
ODI
A
m
o
d
el.
Fu
r
th
er
,
t
h
is
wo
r
k
ca
n
b
e
e
x
ten
d
ed
b
y
t
h
e
ex
p
an
s
io
n
o
f
s
to
r
ag
e
a
n
d
b
atter
y
ca
p
ac
ity
f
o
r
lo
n
g
-
d
is
tan
ce
c
o
v
er
ag
e
.
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
Offlin
e
d
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e
in
s
tr
u
men
ta
liz
ed
a
mb
u
la
n
ce
fo
r
eme
r
g
en
cy
s
itu
a
tio
n
s
(
Hitesh
Mo
h
a
p
a
tr
a
)
255
RE
F
E
R
E
NC
E
S
[1
]
K
.
T.
Ba
rk
le
y
,
T
h
e
Amb
u
la
n
c
e
.
E
x
p
o
si
ti
o
n
P
re
ss
,
1
9
9
0
.
[2
]
H.
M
o
h
a
p
a
tra,
e
t
a
l
.
,
“
De
tec
ti
o
n
a
n
d
a
v
o
i
d
a
n
c
e
o
f
wa
ter
lo
ss
th
ro
u
g
h
m
u
n
icip
a
li
t
y
tap
s
in
In
d
ia
b
y
u
sin
g
sm
a
rt
tap
s
a
n
d
ICT,
”
I
ET
W
ire
les
s S
e
n
so
r
S
y
ste
ms
,
v
o
l.
9
,
n
o
.
6
,
p
p
.
4
4
7
-
4
5
7
,
2
0
1
9
.
[3
]
H.
P
a
n
d
a
,
H.
M
o
h
a
p
a
tra,
a
n
d
A
.
K.
Ra
th
,
“
WS
N
-
Ba
se
d
Wate
r
C
h
a
n
n
e
li
z
a
ti
o
n
:
An
A
p
p
r
o
a
c
h
o
f
S
m
a
rt
Wate
r,
”
S
ma
rt Ci
t
ies
Op
p
o
r
tu
n
it
ies
a
n
d
C
h
a
ll
e
n
g
e
s.
L
e
c
tu
re
N
o
tes
in
C
ivil
En
g
i
n
e
e
rin
g
,
v
o
l
5
8
,
2
0
2
0
.
[4
]
V
.
V.
Krish
n
a
,
e
t
a
l.
,
“
De
sig
n
o
f
Dro
n
e
Am
b
u
la
n
c
e
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Pu
re
a
n
d
A
p
p
l
ied
M
a
th
e
ma
ti
c
s
,
v
o
l.
1
1
9
,
n
o
.
1
5
,
p
p
.
1
8
1
3
-
1
8
1
8
,
2
0
1
8
.
[5
]
A
.
M
o
m
o
n
t,
“
T
h
e
d
e
fi
b
ril
lat
o
r
d
r
o
n
e
t
h
a
t
c
a
n
b
e
a
t
a
m
b
u
lan
c
e
ti
m
e
s,
”
h
tt
p
s:/
/www
.
b
b
c
.
c
o
m
/n
e
ws
,
2
9
Ju
n
e
2
0
1
7
.
[6
]
A
.
Ko
n
e
rt,
J.
S
m
e
re
k
a
,
a
n
d
L.
S
z
a
rp
a
k
,
“
Th
e
Us
e
o
f
Dro
n
e
s
in
Em
e
rg
e
n
c
y
M
e
d
ici
n
e
:
P
ra
c
ti
c
a
l
a
n
d
Leg
a
l
As
p
e
c
ts,
”
Eme
rg
e
n
c
y
M
e
d
icin
e
I
n
ter
n
a
t
io
n
a
l
,
v
ol
.
2
0
1
9
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
5
5
/
2
0
1
9
/
3
5
8
9
7
9
2
.
[7
]
P
.
Va
n
d
e
Vo
o
rd
e
,
e
t
a
l.
,
“
Th
e
d
r
o
n
e
a
m
b
u
lan
c
e
[A
-
UA
S
]:
g
o
ld
e
n
b
u
l
let
o
r
ju
st
a
b
lan
k
?
”
Res
u
sc
it
a
ti
o
n
,
v
o
l.
1
1
6
,
p
p
.
4
6
-
4
8
,
2
0
1
7
.
[8
]
T.
Am
u
k
e
le,
e
t
a
l.
,
“
Dro
n
e
tra
n
sp
o
rtatio
n
o
f
b
l
o
o
d
p
ro
d
u
c
ts,
”
T
r
a
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S
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n
,
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.
Va
n
Be
r
l
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t
a
l.
,
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p
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ro
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Z
.
Du
k
o
witz,
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Re
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tt
p
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[1
2
]
M
.
Ba
las
in
g
a
m
,
“
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n
m
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d
i
c
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,
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l
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[1
3
]
J.
B.
Ro
ss
e
r
,
e
t
a
l
.
,
“
M
e
d
ica
l
a
p
p
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p
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8
.
[1
4
]
J.
Bra
u
n
,
e
t
a
l.
,
“
T
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p
ro
m
isi
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g
fu
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fiel
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rn
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ry
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.
[1
5
]
B.
M
.
B
o
g
le,
e
t
a
l.
,
“
Th
e
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a
se
fo
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[1
6
]
J.
S
c
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tt
a
n
d
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.
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re
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.
[1
7
]
J.
Len
n
a
rtsso
n
,
“
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trate
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lac
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m
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n
t
o
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.
[1
8
]
A
.
G
o
o
d
c
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ld
,
e
t
a
l.
,
“
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ro
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:
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[1
9
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H.
M
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p
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tra
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d
A.
K.
Ra
th
,
“
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a
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lt
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in
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0
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K.
Ra
th
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p
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tra
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d
A.K.
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t
h
,
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in
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ma
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2
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P
a
n
d
a
,
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M
o
h
a
p
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tra
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a
n
d
A.
K.
Ra
th
,
“
WS
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Ba
se
d
Wate
r
Ch
a
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li
z
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t
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n
:
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Ap
p
ro
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c
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f
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m
a
rt
Wate
r,
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n
S
ma
rt
Cit
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Op
p
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h
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ll
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re
No
tes
in
Civil
En
g
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e
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rin
g
,
S
.
Ah
m
e
d
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S
.
Ab
b
a
s,
H.
Zi
a
,
Ed
s,
2
0
2
0
.
[2
3
]
M
.
F
ra
n
k
,
“
Ho
w
Well
Do
G
o
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g
le
M
a
p
s
Wo
rk
Offl
in
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?
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so
l
u
tely
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law
les
sly
,
”
h
tt
p
s:/
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tsid
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4
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P
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t
),
h
tt
p
s:/
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