Indoor Operations by FMCW Millimeter Wave SAR Onboard Small UAS: A Simulation Approach

Table 2

Set of basic actions required in 2D RT algorithm.

Identifier	Normal vector	Action
0	Null	Keep on propagating
1		Compute new direction and increase hit counter
2		Compute new direction and increase hit counter
3		Compute new direction and increase hit counter
4		Compute new direction and increase hit counter
5		Compute new direction and increase hit counter
6		Compute new direction and increase hit counter
7		Compute new direction and increase hit counter
8		Compute new direction and increase hit counter
9		Stop ray