dc.contributor.authorHu, Jinwen
dc.contributor.authorXie, Lihua
dc.contributor.authorXu, Jun
dc.contributor.authorXu, Zhao
dc.date.accessioned2014-06-13T05:37:25Z
dc.date.available2014-06-13T05:37:25Z
dc.date.copyright2014en_US
dc.date.issued2014
dc.identifier.citationHu, J., Xie, L., Xu, J., & Xu, Z. (2014). Multi-Agent Cooperative Target Search. Sensors, 14(6), 9408-9428.en_US
dc.identifier.issn1424-8220en_US
dc.identifier.urihttp://hdl.handle.net/10220/19752
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.relation.ispartofseriesSensorsen_US
dc.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/).en_US
dc.subjectDRNTU::Engineering::Electrical and electronic engineering
dc.titleMulti-agent cooperative target searchen_US
dc.typeJournal Article
dc.contributor.researchSingapore Institute of Manufacturing Technologyen_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.identifier.doihttp://dx.doi.org/10.3390/s140609408
dc.description.versionPublished versionen_US


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