Unmanned Aerial Vehicle (UAV) path planning algorithms often assume a knowledge reward function or priority map, indicating the most important areas to visit. In this paper we propose a method to create priority maps for monitoring or intervention of dynamic spreading processes such as wildfires. The presented optimization framework utilizes the properties of positive systems, in particular the separable structure of value (cost-to-go) functions, to provide scalable algorithms for surveillance and intervention. We present results obtained for a 16 and 1000 node example and convey how the priority map responds to changes in the dynamics of the system. The larger example of 1000 nodes, representing a fictional landscape, shows how the method can integrate bushfire spreading dynamics, landscape and wind conditions. Finally, we give an example of combining the proposed method with a travelling salesman problem for UAV path planning for wildfire intervention.
In this paper we propose a method for sparse dynamic allocation of resources to bound the risk of spreading processes, such as epidemics and wildfires, using convex optimization and dynamic programming techniques. Here, risk is defined as the risk of an undetected outbreak, i.e. the product of the probability of an outbreak occurring over a time interval and the future impact of that outbreak, and we can allocate budgeted resources each time step to bound and minimize the risk. Our method in particular provides sparsity of resources, which is important due to the large network structures involved with spreading processes and has advantages when resources can not be distributed widely.
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