Papaioannou, Savvas (KIOS CoE, University of Cyprus), Kolios, Panayiotis (University of Cyprus), Theocharides, Theocharis (University of Cyprus), Panayiotou, Christos (University of Cyprus), Polycarpou, Marios M. (University of Cyprus)

Probabilistic Search and Track with Multiple Mobile Agents

Scheduled for presentation during the Regular Session "Swarms II" (WeB2), Wednesday, June 12, 2019, 15:20−15:40, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at random times inside the surveillance region and their positions are random and unknown. The agents have a limited sensing range, and due to sensor imperfections they receive noisy measurements from the targets. In this work we utilize the theory of random finite sets (RFS) to capture the uncertainty in the time-varying number of targets and their states and we propose a decision and control framework, in which the mode of operation (i.e. search or track) as well as the mobility control action for each agent, at each time instance, are determined so that the collective goal of searching and tracking is achieved. Extensive simulation results demonstrate the effectiveness and performance of the proposed solution.