Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/101867
Title: Multi-agent cooperative target search
Authors: Hu, Jinwen
Xie, Lihua
Xu, Jun
Xu, Zhao
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2014
Source: Hu, J., Xie, L., Xu, J., & Xu, Z. (2014). Multi-Agent Cooperative Target Search. Sensors, 14(6), 9408-9428.
Series/Report no.: Sensors
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.
URI: https://hdl.handle.net/10356/101867
http://hdl.handle.net/10220/19752
ISSN: 1424-8220
DOI: 10.3390/s140609408
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/).
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles
SIMTech Journal Articles

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