Fig. 6. (a) Illustration of the navigational map, M, generated during mission in the predefined search area. The map is dynamically updated after completion of each decision map, m̂. (b) Illustration of decision map m̂, which is passed into the network during training. Black cells mark the identified obstacles, light grey represents the dominant cell which controls the heading of the UAV, medium grey denotes the visited cells and dark grey the UAV current position. (Methodology)
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