Cangan, Barnabas Gavin2019-07-132019-07-132019-07-12vt_gsexam:21785http://hdl.handle.net/10919/91444We introduce a framework that would enable using autonomous aerial vehicles in search and rescue scenarios associated with missing person incidents to assist human searchers. We formulate a lost person behavior model and a human searcher model informed by data collected from past search missions. These models are used to generate a probabilistic heatmap of the lost person's position and anticipated searcher trajectories. We use Gaussian processes with a Gibbs' kernel for data fusion to accurately model a limited field-of-view sensor. Our algorithm thereby computes a set of trajectories for a team of aerial vehicles to autonomously navigate, so as to assist and complement human searchers' efforts.ETDIn CopyrightSearch and RescueInformative path planningMulti-agent path planningGaussian processLimited field-of-viewGibbs' kernelThesis