Albert, Anders (Norwegian University of Science and Technology), Imsland, Lars (Norwegian University of Science and Technology)

Performance Bounds for Tracking Multiple Objects Using a Single UAV

Scheduled for presentation during the "Path Planning - V" (FrB3), Friday, June 16, 2017, 13:45−14:05, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

In this paper we calculate probabilistic estimates for the size of an area a single unmanned aerial vehicle (UAV) can expect to monitor when tracking multiple objects. The objects are assumed to move according to a linear velocity model with Gaussian process noise. We use a Kalman filter to estimate the position of the objects. By using the covariance matrix of the Kalman filter, we can derive the necessary visitation period for a UAV to have a probability within a given confidence interval of redetecting the object at the estimated position. Then, we use this visitation period to calculate the probabilistic estimate for the area a single UAV can monitor. We demonstrate the results in Monte Carlo simulations.