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y
20
26
,
p
p
.
83
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tific
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till
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p
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icien
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o
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ar
till
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f
ir
e
[
1
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-
[
5
]
.
At
th
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s
am
e
tim
e,
th
e
u
s
e
o
f
ar
tific
ia
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in
tellig
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(
AI
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in
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y
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tem
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f
p
ar
ticu
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ta
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is
k
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o
wn
,
AI
h
as
im
p
ac
ted
m
ilit
ar
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d
y
n
am
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b
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war
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in
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co
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th
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2
1
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tu
r
y
.
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r
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in
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k
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[
6
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1
4
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,
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f
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n
m
o
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war
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ar
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a
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ic
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AV
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P
I
D
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t
r
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ll
e
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b
as
e
d
o
n
AI
[
1
5
]
-
[
2
2
]
.
Un
f
o
r
tu
n
atel
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m
o
s
t
s
cien
tific
wo
r
k
s
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n
th
is
to
p
ic
a
r
e
n
o
t
a
v
ailab
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to
a
wid
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an
g
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f
s
cien
tis
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.
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a
s
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m
in
im
al
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f
o
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m
atio
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f
r
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m
th
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liter
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r
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n
e
ca
n
o
n
ly
g
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ess
wh
at
ar
till
er
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f
i
r
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co
n
tr
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l sy
s
tem
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ex
is
t.
Ap
p
licatio
n
o
f
f
ir
e
p
o
wer
in
r
ec
en
t
co
n
f
licts
b
y
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f
o
r
ex
am
p
le,
in
Kar
a
b
ak
h
o
r
Uk
r
ain
e
,
h
as
b
ee
n
in
n
o
v
ativ
e
an
d
d
y
n
am
ic
.
I
t
was
n
o
te
d
in
th
e
wo
r
k
[
1
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th
at
l
o
n
g
-
r
an
g
e
p
r
ec
is
io
n
f
ir
es
with
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iter
in
g
UAVs
an
d
ar
till
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m
u
n
itio
n
s
ass
is
ted
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y
s
p
o
tter
UAVs
h
av
e
b
ee
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v
er
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f
ec
tiv
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Au
to
m
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ted
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n
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r
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UAVs,
wea
p
o
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lo
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tin
g
r
ad
a
r
s
,
elec
tr
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ic
war
f
a
r
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s
y
s
tem
s
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d
f
ir
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co
n
tr
o
l sy
s
tem
h
as p
r
o
v
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v
er
y
leth
al.
I
n
p
a
p
er
[
1
]
-
[
5
]
th
e
an
al
y
s
es
th
e
ap
p
licatio
n
o
f
UAVs
in
th
e
r
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le
o
f
th
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f
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r
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s
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ased
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ex
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th
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m
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f
o
r
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s
wo
r
l
d
wid
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h
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b
ee
n
d
o
n
e.
I
t
is
p
r
o
p
o
s
ed
to
in
tr
o
d
u
ce
UAVs
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to
th
e
a
r
till
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f
i
r
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s
u
p
p
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t
s
y
s
tem
to
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cr
ea
s
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t
h
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ca
p
a
b
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o
f
a
r
till
er
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C
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atian
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
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52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
41
,
No
.
1
,
J
an
u
ar
y
20
26
:
83
-
89
84
Ar
m
ed
Fo
r
ce
s
.
T
h
e
an
al
y
s
is
o
f
s
m
all
UAVs
s
u
g
g
ests
th
at
th
e
Or
b
iter
3
B
s
y
s
tem
(
UAV
m
ass
is
3
0
k
g
,
f
lig
h
t
tim
e
is
7
h
,
th
e
m
ax
im
u
m
s
p
ee
d
o
f
th
e
UAV
is
9
3
k
m
/h
)
is
h
ig
h
ly
s
u
itab
le
f
o
r
tactica
l
r
ec
o
n
n
aiss
an
ce
an
d
th
e
s
u
p
p
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r
t o
f
s
h
o
r
t
-
to
-
m
ed
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u
m
-
r
a
n
g
e
ar
till
er
y
.
L
ev
ch
en
k
o
et
a
l.
[
4
]
n
o
tes
t
h
at
ar
till
er
y
aim
in
g
co
n
tr
o
l
t
ec
h
n
o
lo
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ap
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p
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a
n
d
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r
r
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tly
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e
f
ir
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co
n
tr
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m
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d
e
is
f
u
lly
au
to
m
atic.
T
h
is
p
ap
er
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aly
ze
d
th
e
d
ev
elo
p
m
en
t
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elate
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tech
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m
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m
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p
o
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eq
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ip
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en
t
aim
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n
g
co
n
tr
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h
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p
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d
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au
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ati
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s
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d
d
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T
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Aze
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aijan
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o
ter
lin
k
in
teg
r
atin
g
th
e
in
tellig
en
ce
,
s
u
r
v
eillan
ce
,
r
ec
o
n
n
aiss
an
ce
ar
ch
itectu
r
e,
an
d
th
e
tar
g
etin
g
en
titi
es
h
av
e
b
ee
n
en
s
u
r
ed
.
Als
o
,
th
er
e
ar
e
a
co
m
m
o
n
GI
S
an
d
co
m
m
o
n
co
m
m
u
n
icatio
n
p
r
o
to
co
l in
UAV
co
n
tr
o
l sy
s
tem
.
T
h
is
p
ap
er
p
r
esen
ts
a
c
o
m
p
l
ex
f
o
r
r
em
o
te
co
n
tr
o
l
o
f
a
r
till
er
y
f
ir
e
u
s
in
g
a
UAV
with
AI
.
T
h
e
u
n
m
an
n
ed
r
o
b
o
tic
ar
till
er
y
f
ir
e
co
n
tr
o
l
s
y
s
tem
in
clu
d
es
s
en
s
o
r
m
o
d
u
les
f
o
r
ass
ess
in
g
th
e
en
v
ir
o
n
m
en
t,
co
llectin
g
an
d
p
r
o
ce
s
s
in
g
d
ata
,
p
lan
n
in
g
a
n
d
d
ec
is
io
n
-
m
ak
in
g
,
an
d
d
e
v
elo
p
in
g
co
m
m
a
n
d
s
f
o
r
th
e
co
m
m
an
d
e
r
o
f
an
ar
till
er
y
b
atter
y
,
b
attalio
n
,
d
i
v
is
io
n
o
r
b
r
ig
ad
e.
Als
o
,
t
h
e
p
a
p
er
o
u
tlin
es
th
e
d
e
v
elo
p
ed
m
eth
o
d
o
lo
g
y
f
o
r
m
in
im
izin
g
f
ir
e
p
o
wer
to
s
u
p
p
r
ess
en
em
y
f
o
r
ce
.
2.
P
RO
P
O
SE
D
AL
G
O
R
I
T
H
M
:
ART
I
L
L
E
RY
F
I
R
E
CO
N
T
RO
L
AU
T
O
M
AT
I
O
N
CO
M
P
L
E
X
T
h
e
m
ain
d
is
ad
v
an
ta
g
e
o
f
ex
i
s
tin
g
f
ir
e
co
n
tr
o
l
m
eth
o
d
s
f
o
r
ar
till
er
y
s
y
s
tem
s
i
s
th
at
th
ey
d
o
n
o
t
tak
e
in
to
ac
co
u
n
t
th
e
co
n
tr
o
l
o
f
t
h
e
f
ir
ep
o
wer
o
f
th
e
f
r
o
n
t
lin
e
u
n
it,
as
well
a
s
th
e
v
ar
iab
ilit
y
o
f
th
e
co
m
b
at
s
itu
atio
n
:
th
e
m
o
v
em
en
t
o
f
en
em
y
f
o
r
ce
s
,
th
e
d
estru
ctio
n
o
f
en
em
y
m
ilit
ar
y
eq
u
ip
m
e
n
t,
th
e
r
ep
len
is
h
m
en
t
o
f
f
r
esh
en
em
y
f
o
r
ce
s
.
Un
lik
e
ex
is
tin
g
m
eth
o
d
s
,
th
e
u
s
e
o
f
AI
i
n
ar
till
er
y
f
ir
e
co
n
tr
o
l
au
to
m
atio
n
s
y
s
tem
s
allo
ws
f
o
r
th
e
r
atio
n
al
u
s
e
o
f
ar
till
er
y
wea
p
o
n
s
o
f
d
if
f
e
r
en
t c
alib
er
s
,
d
ep
en
d
in
g
o
n
t
h
e
r
eq
u
ir
ed
s
p
ec
if
ic
f
ir
ep
o
wer
p
e
r
u
n
it
o
f
f
r
o
n
t
wid
th
an
d
th
e
ch
an
g
in
g
tactica
l
s
itu
atio
n
o
f
t
h
e
f
r
o
n
tal
s
itu
atio
n
at
th
e
f
r
o
n
t.
T
ak
in
g
th
is
in
to
ac
co
u
n
t,
r
atio
n
al
c
o
n
tr
o
l o
f
ar
till
er
y
d
estru
ctio
n
p
o
wer
ca
n
b
e
ac
h
iev
ed
u
s
in
g
a
UAV
with
a
AI
PID
co
n
tr
o
ller
[
1
5
]
-
[
2
2
]
.
Fig
u
r
e
1
s
h
o
ws
th
e
PID
co
n
tr
o
ller
ar
ch
itectu
r
e
o
f
an
in
tellig
en
t
ar
till
er
y
f
ir
e
co
n
tr
o
l
u
s
in
g
a
UAV.
T
h
e
m
ain
co
m
p
o
n
en
ts
o
f
th
e
in
tellig
en
t sy
s
tem
m
an
ag
em
en
t
co
n
tr
o
ller
a
r
e:
−
S
en
s
o
r
m
o
d
u
le
1
;
it
h
elp
s
to
co
llect
in
f
o
r
m
atio
n
a
b
o
u
t
e
n
v
ir
o
n
m
en
tal
p
a
r
am
eter
s
(
s
itu
atio
n
)
a
n
d
th
e
p
h
en
o
m
en
a
b
ei
n
g
s
tu
d
ied
t
h
at
m
ay
af
f
ec
t a
s
p
ec
if
ic
s
y
s
tem
o
r
p
r
o
ce
s
s
;
−
M
o
d
u
le
2
;
th
is
m
o
d
u
le
in
clu
d
es
b
lo
ck
s
f
o
r
p
r
o
ce
s
s
in
g
an
d
in
teg
r
atin
g
in
p
u
t
d
ata,
s
en
s
o
r
d
ata
s
y
n
th
esis
,
lo
g
ical
in
f
er
en
ce
an
d
i
n
ter
p
r
et
atio
n
,
s
itu
atio
n
r
ec
o
g
n
itio
n
,
o
b
s
tacle
r
ec
o
g
n
itio
n
,
a
n
d
th
r
ea
t a
s
s
es
s
m
en
t;
−
M
o
d
u
le
3
;
th
is
m
o
d
u
le
in
clu
d
es
b
lo
ck
s
o
f
o
p
er
atio
n
al
ass
ess
m
en
t,
p
lan
n
in
g
an
d
co
r
r
e
ctio
n
o
f
ac
tio
n
s
(
f
o
r
ex
am
p
le,
UAV
f
lig
h
t m
o
d
es),
d
ev
elo
p
m
e
n
t o
f
a
m
is
s
io
n
p
lan
,
ex
ce
p
tio
n
s
,
a
n
d
co
n
d
itio
n
m
o
n
ito
r
in
g
;
−
M
o
d
u
le
4
;
th
is
m
o
d
u
le
in
clu
d
es
co
m
m
an
d
g
en
e
r
atio
n
b
lo
ck
s
f
o
r
a
s
u
r
v
eillan
ce
ca
m
er
a,
au
to
p
ilo
t
an
d
o
th
er
au
to
n
o
m
o
u
s
co
n
tr
o
ller
s
.
Fig
u
r
e
1
.
Ar
c
h
itectu
r
e
o
f
AI
P
I
D
co
n
tr
o
ller
f
o
r
a
r
till
er
y
f
ir
e
T
h
e
im
p
o
r
ta
n
ce
o
f
wea
p
o
n
c
ateg
o
r
ies
is
d
iv
id
ed
in
to
d
if
f
er
en
t
K
ca
teg
o
r
ies
d
ep
en
d
in
g
o
n
th
ei
r
p
u
r
p
o
s
e
an
d
r
o
le
in
m
ilit
ar
y
o
p
er
atio
n
s
.
Fig
u
r
e
2
s
h
o
ws
a
d
i
ag
r
am
o
f
ar
till
er
y
f
ir
e
co
n
tr
o
l
u
s
in
g
UAVs
b
ased
on
AI
.
L
et
u
s
b
r
ief
ly
d
escr
ib
e
th
e
p
r
in
cip
le
o
f
th
is
co
n
t
r
o
l.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
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2
5
0
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-
4
7
52
A
r
till
ery
fi
r
e
co
n
tr
o
l b
a
s
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o
n
a
r
tifi
cia
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tellig
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lg
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ith
m
o
f
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(
A
z
a
d
A
g
a
la
r
B
a
yra
m
o
v)
85
T
h
e
UAV
co
n
d
u
cts
r
ec
o
n
n
ai
s
s
an
ce
o
f
th
e
n
ea
r
an
d
f
ar
zo
n
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o
f
th
e
f
r
o
n
t,
u
s
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g
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ata
f
r
o
m
d
aily
g
r
o
u
n
d
r
ec
o
n
n
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ce
.
T
h
e
“
n
ea
r
”
en
em
y
f
r
o
n
t
lin
e
is
co
n
v
en
tio
n
ally
ass
u
m
ed
to
b
e
S
ij
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2
÷
5
k
m
,
th
e
“f
ar
”
f
r
o
n
t
lin
e
is
S
ij
=1
5
÷
2
0
k
m
f
r
o
m
“o
u
r
”
ar
till
er
y
b
atter
y
(
d
i
v
is
io
n
,
b
r
ig
a
d
e)
.
T
h
e
UAV
id
e
n
tifie
s
th
e
ty
p
es
o
f
en
em
y
wea
p
o
n
s
an
d
d
eter
m
in
es th
eir
K
i
im
p
o
r
tan
ce
ca
teg
o
r
i
es.
Fig
u
r
e
2
.
A
d
iag
r
am
o
f
ar
till
er
y
f
ir
e
co
n
tr
o
l u
s
in
g
AI
UAVs
D
e
p
e
n
d
i
n
g
o
n
t
h
e
t
y
p
e
o
f
o
p
e
r
a
t
i
o
n
(
o
f
f
e
n
s
i
v
e
o
r
d
e
f
e
n
s
i
v
e
)
,
e
x
p
e
r
t
s
a
s
s
e
s
s
t
o
v
a
r
y
i
n
g
d
e
g
r
e
e
s
t
h
e
i
m
p
o
r
t
a
n
c
e
o
f
w
e
a
p
o
n
s
a
n
d
eq
u
i
p
m
e
n
t
b
e
l
o
n
g
i
n
g
t
o
t
h
e
s
e
ca
t
e
g
o
r
i
e
s
K
(
T
a
b
l
e
1
)
[
2
3
]
-
[
2
5
]
.
T
h
e
s
e
K
i
v
a
l
u
es
,
g
i
v
e
n
i
n
T
a
b
l
e
1
f
o
r
d
i
f
f
e
r
e
n
t
c
a
t
e
g
o
r
i
e
s
o
f
w
e
a
p
o
n
s
a
n
d
e
q
u
i
p
m
e
n
t
,
a
r
e
r
el
a
t
i
v
e
i
n
n
a
t
u
r
e;
d
e
p
e
n
d
i
n
g
o
n
t
h
e
o
p
i
n
i
o
n
o
f
e
x
p
e
r
t
s
,
t
h
e
i
r
m
u
t
u
al
r
a
t
i
o
c
a
n
t
a
k
e
o
n
d
i
f
f
e
r
e
n
t
v
a
lu
e
s
d
e
p
e
n
d
i
n
g
o
n
t
h
e
s
o
u
r
c
e
s
.
T
h
e
h
ig
h
e
r
th
e
K
i
wea
p
o
n
'
s
im
p
o
r
tan
ce
v
alu
e,
th
e
m
o
r
e
im
p
o
r
tan
t
it
is
to
d
estro
y
it
f
ir
s
t.
T
h
is
p
r
in
cip
le
is
em
b
ed
d
e
d
in
th
e
co
n
tr
o
l
p
r
o
g
r
am
f
o
r
th
e
co
m
p
lex
b
ei
n
g
d
ev
elo
p
ed
.
T
h
e
U
A
V
d
e
t
e
r
m
i
n
e
s
t
h
e
d
i
s
t
a
n
c
es
S
ij
f
r
o
m
e
a
c
h
o
f
“
o
u
r
”
a
r
t
i
l
le
r
y
(
m
o
r
t
a
r
)
i
n
s
ta
l
l
at
i
o
n
s
(
i
=
1
,
2
,
3
.
.
.
)
t
o
e
a
c
h
m
il
i
ta
r
y
o
b
j
e
c
t
(
a
r
t
il
l
e
r
y
i
n
s
t
al
l
a
ti
o
n
,
m
o
r
t
a
r
)
o
f
t
h
e
en
e
m
y
o
n
t
h
e
“
n
e
a
r
”
(
j
=
1
,
2
,
.
.
.
,
6
.
.
.
)
a
n
d
“
f
a
r
”
f
r
o
n
t
s
(
j
=
7
,
8
,
.
.
.
,
1
0
.
.
.
)
.
B
as
e
d
o
n
t
h
e
v
a
l
u
e
s
o
f
K
i
a
n
d
S
ij
,
t
h
e
U
AV
p
r
e
p
a
r
e
s
d
e
c
i
s
i
o
n
s
a
n
d
s
e
n
d
s
t
h
e
m
t
o
t
h
e
c
e
n
t
r
a
l
p
o
s
t
t
o
t
h
e
c
o
m
m
a
n
d
e
r
o
f
t
h
e
b
a
t
t
e
r
y
(
d
i
v
i
s
i
o
n
,
b
r
i
g
a
d
e
)
,
a
s
w
e
l
l
as
t
h
e
c
o
m
m
a
n
d
e
r
o
f
e
a
c
h
a
r
t
i
l
le
r
y
u
n
i
t
.
T
ab
le
1
.
T
h
e
i
m
p
o
r
t
a
n
c
e
o
f
w
e
a
p
o
n
s
C
a
t
e
g
o
r
i
e
s
,
K
W
e
a
p
o
n
s
a
n
d
e
q
u
i
p
m
e
n
t
I
mp
o
r
t
a
n
c
e
o
f
c
a
t
e
g
o
r
i
e
s
,
K
i
O
f
f
e
n
si
v
e
D
e
f
e
n
s
e
I
S
mal
l
a
r
ms
3
,
3
3
,
7
II
Ta
n
k
1
0
0
94
III
I
n
f
a
n
t
r
y
f
i
g
h
t
i
n
g
v
e
h
i
c
l
e
69
71
IV
A
r
mo
r
e
d
p
e
r
so
n
n
e
l
c
a
r
r
i
e
r
36
30
V
A
n
t
i
-
t
a
n
k
w
e
a
p
o
n
55
73
VI
A
r
t
i
l
l
e
r
y
g
u
n
92
95
VII
A
r
t
i
l
l
e
r
y
m
u
l
t
i
p
l
e
r
o
c
k
e
t
l
a
u
n
c
h
e
r
95
99
VIII
M
o
r
t
a
r
48
55
IX
H
e
l
i
c
o
p
t
e
r
89
1
0
9
X
A
i
r
d
e
f
e
n
s
e
e
q
u
i
p
m
e
n
t
44
56
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
m
ain
a
d
v
an
ta
g
e
o
f
an
u
n
m
an
n
ed
a
r
till
er
y
f
ir
e
co
n
tr
o
l
s
y
s
tem
o
p
er
atin
g
u
s
in
g
UAVs
with
AI
is
th
e
f
astes
t
p
o
s
s
ib
le
d
ec
is
io
n
-
m
ak
in
g
with
o
u
t
h
u
m
an
f
ac
to
r
b
ased
o
n
a
f
lex
ib
le
ass
ess
m
en
t
o
f
t
h
e
en
v
ir
o
n
m
en
t
(
s
itu
atio
n
)
,
th
e
ty
p
e
o
f
e
n
em
y
wea
p
o
n
s
an
d
th
e
ca
teg
o
r
y
o
f
t
h
eir
im
p
o
r
tan
ce
,
as
well
as
th
e
d
is
tan
ce
to
en
em
y
m
ilit
ar
y
in
s
tallatio
n
s
.
As
ca
n
b
e
s
ee
n
f
r
o
m
th
e
an
aly
s
is
o
f
th
e
p
r
o
b
lem
s
o
f
a
u
to
m
atin
g
a
r
till
er
y
f
ir
e
co
n
tr
o
l
[1
]
-
[
5
]
,
th
e
d
ev
elo
p
m
en
t
o
f
ex
is
tin
g
an
d
f
u
tu
r
e
au
to
m
ated
co
n
tr
o
l
s
y
s
tem
s
at
th
e
tact
ical
lev
el
is
alm
o
s
t
alwa
y
s
ca
r
r
ied
o
u
t
in
co
n
d
itio
n
s
o
f
a
lim
ited
n
u
m
b
er
o
f
a
r
till
er
y
s
y
s
tem
s
.
T
h
er
ef
o
r
e,
a
s
th
e
f
ir
s
t
o
b
jectiv
e
f
u
n
ctio
n
o
f
th
e
p
r
o
b
lem
o
f
o
p
tim
al
s
y
n
th
esis
o
f
an
au
to
m
ated
wo
r
k
s
tatio
n
f
o
r
th
e
co
m
m
a
n
d
er
o
f
an
a
r
till
er
y
b
atter
y
(
b
r
ig
ad
e,
d
iv
is
io
n
)
,
it i
s
p
r
o
p
o
s
ed
t
o
u
s
e
th
e
to
tal
f
i
r
e
p
o
wer
P
0
o
f
its
co
m
p
o
n
en
ts
.
T
h
is
o
p
tim
izatio
n
p
r
o
b
lem
is
p
r
o
p
o
s
ed
to
b
e
s
o
l
v
ed
u
s
in
g
th
e
f
o
llo
win
g
o
b
jectiv
e
f
u
n
ctio
n
:
0
=
∑
1
∙
1
+
∑
2
∙
2
+
⋯
+
∑
∙
→
min
⬚
=
1
2
=
1
1
=
1
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
41
,
No
.
1
,
J
an
u
ar
y
20
26
:
83
-
89
86
Her
e,
Р
1
an
d
n
1
a
r
e
th
e
f
ir
ep
o
wer
an
d
th
e
n
u
m
b
e
r
o
f
a
ca
lib
er
o
f
t
h
e
ar
till
er
y
d
ev
ice
1
(
f
ield
-
g
u
n
,
m
o
r
tar
,
m
u
ltip
le
r
o
ck
et
lau
n
ch
er
)
(
T
a
b
le
1
)
;
Р
2
an
d
n
2
ar
e
th
e
f
ir
ep
o
wer
an
d
th
e
n
u
m
b
er
o
f
a
ca
lib
er
o
f
th
e
a
r
till
er
y
d
ev
ice
2
(
f
ield
-
g
u
n
,
m
o
r
tar
,
m
u
ltip
le
r
o
ck
et
lau
n
c
h
er
)
;
Р
m
an
d
n
m
ar
e
th
e
f
ir
ep
o
wer
an
d
th
e
n
u
m
b
e
r
o
f
a
ca
lib
er
o
f
t
h
e
ar
till
er
y
d
ev
ice
m
(
f
ield
-
g
u
n
,
m
o
r
tar
,
m
u
ltip
le
r
o
ck
et
lau
n
ch
er
)
;
a
n
d
x
mi
d
eter
m
in
es
th
e
s
elec
tio
n
o
f
s
p
ec
if
ic
co
m
p
o
n
e
n
ts
.
T
h
u
s
,
k
n
o
win
g
th
e
f
ir
ep
o
wer
o
f
en
em
y
ar
till
er
y
u
n
its
P
an
d
u
s
in
g
(
1
)
,
th
e
m
in
im
u
m
n
ec
ess
ar
y
f
ir
ep
o
wer
(
r
atio
n
al
am
o
u
n
t)
o
f
“o
u
r
”
b
atter
ies (
d
iv
is
io
n
,
b
r
ig
ad
e)
to
s
u
p
p
r
ess
en
em
y
f
i
r
ca
n
b
e
esti
m
ated
:
0
>
I
n
a
d
d
itio
n
,
to
r
atio
n
ally
u
s
e
t
h
e
f
ir
e
p
o
wer
o
f
“o
u
r
”
a
r
till
er
y
s
y
s
tem
s
,
th
e
d
y
n
am
ic
p
o
wer
m
eth
o
d
ca
n
b
e
u
s
ed
[
2
4
]
,
[
2
5
]
.
Su
p
p
o
s
e
th
at
m
is
a
n
u
m
b
er
(
j
=1
,
2
,
.
.
.
,
m
)
o
f
f
ir
in
g
d
ev
ices
a
n
d
k
is
a
n
u
m
b
er
(
i
=1
,
2
,
.
.
.
,
k
)
o
f
tar
g
ets.
L
et
d
en
o
te
b
y
p
ji
th
e
p
r
o
b
ab
ili
ty
th
at
th
e
j
-
th
s
m
all
wea
p
o
n
will
d
estro
y
th
e
i
-
th
tar
g
et.
T
h
ese
v
alu
es
ar
e
lis
ted
in
T
ab
le
2
in
th
e
f
ir
s
t
co
lu
m
n
f
o
r
th
e
co
r
r
esp
o
n
d
i
n
g
tar
g
et
n
u
m
b
er
.
L
et
d
en
o
te
th
e
s
atis
f
ac
to
r
y
p
r
o
b
a
b
ilit
y
o
f
h
itti
n
g
ea
ch
tar
g
et
as
0
(
i
=1
,
2
,
…,
k
)
.
C
i
(
i
=1
,
.
.
.
,
m
)
is
a
co
s
t
o
f
an
ar
till
er
y
s
h
ell.
Dep
e
n
d
in
g
o
n
th
e
d
eg
r
ee
o
f
im
p
o
r
tan
ce
,
t
h
ese
p
r
o
b
ab
ilit
ies ar
e
wr
itten
in
th
e
last
r
o
w
o
f
T
ab
le
2
.
T
ab
le
2
.
Data
o
f
task
F
i
r
i
n
g
d
e
v
i
c
e
s
A
c
o
s
t
o
f
a
n
a
r
t
i
l
l
e
r
y
s
h
e
l
l
M
a
x
i
m
u
m
n
u
m
b
e
r
o
f
a
r
t
i
l
l
e
r
y
s
h
e
l
l
s
Ta
r
g
e
t
s
Ta
r
g
e
t
№
1
Ta
r
g
e
t
№
2
Ta
r
g
e
t
№
Ta
r
g
e
t
№
№
1
1
1
11
11
12
12
...
1
1
...
1
1
№
2
2
2
21
21
22
22
...
2
2
...
2
2
№
3
3
3
31
31
32
32
...
3
3
...
3
3
...
...
...
...
...
...
...
...
...
...
...
...
...
№
1
1
2
2
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
№
1
1
2
2
...
...
1
0
1
2
0
2
0
0
T
o
d
estro
y
tar
g
ets,
y
o
u
n
ee
d
to
d
is
tr
ib
u
te
th
em
am
o
n
g
f
ir
in
g
d
ev
ices.
L
et
d
en
o
te
th
e
n
u
m
b
er
o
f
p
r
o
jectiles
th
at
m
u
s
t
b
e
u
s
e
d
to
h
it
th
e
i
-
th
tar
g
et
with
th
e
j
-
th
d
ev
ice
as
(
s
ee
2
nd
co
lu
m
n
f
o
r
th
e
co
r
r
esp
o
n
d
in
g
n
u
m
b
er
e
d
tar
g
et
in
T
ab
le
2
)
.
L
et
d
en
o
te
th
e
co
s
t
o
f
th
e
p
r
o
jectile
u
s
ed
b
y
th
e
j
-
th
s
h
o
o
ter
,
an
d
th
e
n
u
m
b
er
o
f
s
u
ch
p
r
o
je
ctiles at
h
is
d
is
p
o
s
al
(
s
ee
co
lu
m
n
s
2
an
d
3
o
f
T
ab
le
2
)
.
Statem
en
t o
f
th
e
p
r
o
b
lem
.
T
h
e
v
alu
e
m
u
s
t b
e
f
o
u
n
d
wh
e
n
th
e
f
o
llo
win
g
c
o
n
d
itio
n
s
ar
e
m
et
:
1)
T
ar
g
ets m
u
s
t b
e
d
estro
y
ed
wit
h
a
g
iv
e
n
p
r
o
b
ab
ilit
y
;
2)
T
h
e
n
u
m
b
er
o
f
s
h
ells
ex
p
en
d
e
d
b
y
ea
c
h
ar
till
er
y
u
n
it m
u
s
t n
o
t e
x
ce
ed
th
e
n
u
m
b
er
o
f
s
h
ells
av
ailab
le;
3)
T
h
e
to
tal
co
s
t o
f
th
e
s
h
ells
u
s
ed
s
h
o
u
ld
b
e
m
in
im
al.
L
et
f
o
r
m
u
late
a
m
ath
em
atica
l
m
o
d
el
o
f
th
e
g
iv
e
n
p
r
o
b
lem
:
L
et
n
u
m
b
er
th
e
ar
till
er
y
s
h
ells
aim
ed
at
th
e
i
-
th
tar
g
et
s
eq
u
en
tially
as
=
1
,
2
,
…
,
.
Her
e:
=
∑
=
1
.
L
et
d
en
o
te
t
h
e
p
r
o
b
a
b
ilit
y
th
at
t
h
e
s
-
th
a
r
till
er
y
s
h
ell
will
d
estro
y
th
e
tar
g
et
as
.
I
t
is
clea
r
th
at,
∈
{
1
,
2
,
…
,
}
.
L
et
wr
ite
an
alg
o
r
ith
m
th
at
ca
lcu
lates
th
e
p
r
o
b
ab
ilit
y
,
d
estru
ctio
n
o
f
a
tar
g
et
af
te
r
s
n
u
m
b
er
o
f
s
h
o
ts
:
W
h
en
=
1
,
th
en
1
,
=
1
.
L
et
d
en
o
te
1
=
1
−
1
.
T
h
en
,
f
o
r
an
y
=
2
,
…
,
th
e
r
e
is
,
=
−
1
,
+
−
1
,
,
,
=
−
1
,
(
1
−
2
)
.
T
h
u
s
,
co
n
d
itio
n
1
o
f
th
e
p
r
o
b
l
em
ca
n
b
e
e
x
p
r
ess
ed
as f
o
llo
w
s
:
,
≥
0
,
=
1
,
2
,
…
,
(
2
)
T
h
e
co
n
d
itio
n
th
at
th
e
n
u
m
b
er
o
f
ar
till
er
y
s
h
ells
ex
p
en
d
ed
b
y
ea
ch
ar
till
er
y
u
n
it
d
o
es
n
o
t
ex
ce
ed
th
e
n
u
m
b
er
o
f
a
r
till
er
y
s
h
ells
at
its
d
is
p
o
s
al
is
ex
p
r
ess
ed
as f
o
llo
ws:
∑
=
1
≤
,
=
1
,
2
,
…
,
(
3
)
Fro
m
th
e
s
tatem
en
t o
f
t
h
e
p
r
o
b
lem
it is
clea
r
th
at
th
e
n
u
m
b
e
r
s
x
ar
e
n
o
n
-
n
eg
ativ
e
in
teg
er
s
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
A
r
till
ery
fi
r
e
co
n
tr
o
l b
a
s
ed
o
n
a
r
tifi
cia
l in
tellig
en
ce
a
lg
o
r
ith
m
o
f
…
(
A
z
a
d
A
g
a
la
r
B
a
yra
m
o
v)
87
≥
0
,
=
1
,
2
,
…
,
,
=
1
,
2
,
…
,
(
4
)
T
h
e
r
eq
u
ir
em
en
t th
at
t
h
e
to
tal
co
s
t o
f
co
n
s
u
m
e
d
p
r
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52
I
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J
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CO
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DATA AV
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1
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V
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[
5
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