%0 Journal Article
%A Cobano-Suárez, José-Antonio
%A Martínez de Dios, J. R.
%A Conde, Roberto
%A Sánchez Matamoros, José Manuel
%A Ollero, Aníbal
%T Data Retrieving from heterogenous wireless sensor network nodes using UAVs
%D 2010
%U https://hdl.handle.net/10433/23013
%X This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also considering uncertainties. A waypoint generation module computes intermediate waypoints in order to ensure that the trajectory achieves the required levels of safety (avoids forbidden zones) and mission achievement (passes through way-zones). The method has been applied to collection of data from wireless sensor network and has been validated in the airfieldof Bollullos in the Spanish province of Seville.
%K UAV planning
%K Wireless sensor network
%K Particle filter
%~