A receding-horizon cooperative search algorithm is presented that jointly optimizes routes and sensor orientations for a team of autonomous agents searching for a mobile target in a closed and bounded region. By sampling this region at locations with high target probability at each time step, we reduce the continuous search problem to a sequence of optimizations on a finite, dynamically updated graph whose vertices represent waypoints for the searchers and whose edges indicate potential connections between the waypoints. Paths are computed on this graph using a receding-horizon approach, in which the horizon is a fixed number of graph vertices. To facilitate a fair comparison between paths of varying length on nonuniform graphs, the optimization criterion measures the probability of finding the target per unit travel time. Using this algorithm, we show that the team discovers the target in finite time with probability one. Simulations verify that this algorithm makes effective use of agents and outperforms previously proposed search algorithms. We have successfully hardware tested this algorithm in two small unmanned aerial vehicles (UAVs) with gimbaled video cameras.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Search by UAV Teams: A Model Predictive Approach using Dynamic Graphs


    Beteiligte:
    Riehl, J. R. (Autor:in) / Collins, G. E. (Autor:in) / Hespanha, J. P. (Autor:in)


    Erscheinungsdatum :

    01.10.2011


    Format / Umfang :

    4213716 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooperative Search by UAV Teams: A Model Predictive Approach using Dynamic Graphs

    Riehl, J.R. / Collins, G.E. / Hespanha, J.P. | Tema Archiv | 2011


    Cooperative Search Using Human-UAV Teams

    Liu, Chang / Hedrick, J. Karl | AIAA | 2016


    Model predictive control of cooperative vehicles using systematic search approach

    Rochefort, Y. / Piet-Lahanier, H. / Bertrand, S. et al. | Tema Archiv | 2014


    Cooperative Search Using Human-UAV Teams (AIAA 2016-1653)

    Liu, Chang / Hedrick, J. Karl | British Library Conference Proceedings | 2016