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      Multi-agent cooperative target search

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      Multi-Agent Cooperative Target Search.pdf (2.328Mb)
      Author
      Hu, Jinwen
      Xie, Lihua
      Xu, Jun
      Xu, Zhao
      Date of Issue
      2014
      School
      School of Electrical and Electronic Engineering
      Research Centre
      Singapore Institute of Manufacturing Technology
      Version
      Published version
      Abstract
      This paper addresses a vision-based cooperative search for multiple mobile ground targets by a group of unmanned aerial vehicles (UAVs) with limited sensing and communication capabilities. The airborne camera on each UAV has a limited field of view and its target discriminability varies as a function of altitude. First, by dividing the whole surveillance region into cells, a probability map can be formed for each UAV indicating the probability of target existence within each cell. Then, we propose a distributed probability map updating model which includes the fusion of measurement information, information sharing among neighboring agents, information decay and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem as a multi-agent cooperative coverage control problem by optimizing the collective coverage area and the detection performance. The proposed map updating model and the cooperative control scheme are distributed, i.e., assuming that each agent only communicates with its neighbors within its communication range. Finally, the effectiveness of the proposed algorithms is illustrated by simulation.
      Subject
      DRNTU::Engineering::Electrical and electronic engineering
      Type
      Journal Article
      Series/Journal Title
      Sensors
      Rights
      © 2014 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
      Collections
      • SIMTech Journal Articles
      • EEE Journal Articles
      http://dx.doi.org/10.3390/s140609408
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