Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Information-driven Persistent Sensing of a Non-cooperative Mobile Target Using UAVs
Year:2017
Research Areas
  • Engineering,
  • Aeronautical engineering
Information
Abstract
This paper addresses the persistent sensing problem of moving ground targets of interest using a group of fixed wing UAVs. Especially, we aim to overcome the challenge of physical obscuration in complex mission environments. To this end, the persistent sensing problem is formulated under an optimal control framework, i.e. deploying and managing UAVs in a way maximising the visibility to the non-cooperative target.The main issue with such a persistent sensing problem is that it generally requires the knowledge of future target positions, which is uncertain. To mitigate this issue, a probabilistic map of the future target position is widely utilised. However, most of the probabilistic models use only limited information of the target. This paper proposes an innovative framework that can make the best use of all available information, not only limited information. For the validation of the feasibility, the performance of the proposed framework is tested in a Manhattantype controlled urban environment. All the simulation tests use the same framework proposed, but utilise different level of information.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
1,512
Impact info
Volume
10.1007/s10846-017-0719-y
Journal number
From page
1
To page
15
Month
SIN MES
Ranking
Participants
  • Autor: Hyo-Sang Shin (Cranfield University Cranfield UK)
  • Autor: Adrian Jesus Garcia (ETSI Caminos Laboratorio de Topografia y Geomatica Universidad Politecnica de Madrid)
  • Autor: Sergio Alvarez Gallego (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Ingeniería y Morfología del Terreno
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)