Multiple Ground Target Finding and Action Using UAVs

This paper aims to develop a generalized framework for vision-based multiple ground target finding and action using a low-cost UAV system. The framework can be effectively deployed on a variety of UAV application with the suitable detection module in fully and supervised autonomous missions such as Search and rescue, inspection of flight debris, and spot spraying application of weedicide/pesticide. The developed framework was verified using Software in the Loop (SITL) simulation and outdoor flight tests. Results show that the framework is capable to perform multiple target finding and action task in real-world conditions.