In an effort to enhance situation awareness, DHS is sponsoring the development of hardware and software systems to aid
visualization of structures in which urban search and rescue (USAR) crews will be operating. Given positional data
generated by virtual badges worn by first responders, the Hierarchical Grid Referenced Normalized Display (HiGRND)
system dynamically creates visualization of the structure in which the responders are operating. In this paper, we
discuss some of the recent work in progress on using virtual badge tracks to create visualizations of orthonormal
structures. The method described here is used to seed a powerful mapping tool which is used by human operators to
enhance an incident commander's situation awareness.
In this paper, we present SCOUTS, an autonomous system for the allocation of multiple small UAVs equipped with
video sensors specifically geared to tracking and reacquisition of vehicle targets in urban environments. To demonstrate
SCOUTS performance, we test our system in a simulation incorporating the key challenges encountered by real-time
UAV tracking scenarios, including unreliable reports from poor image quality, disruption latency in communication, and
temporary gaps in persistent surveillance requiring target re-acquisition strategies. The results provided in this paper
establish SCOUTS as a robust approach to this challenging problem.