To develop a de-centralized system for allocating mobile sensor assets controlled by teams of autonomous air vehicle (AVs) and deployed in spatially complex urban environments. The sensor assets are to support AV missions involving the pursuit of one or more mobile intelligent ground adversaries. Since sensor information is typically uncertain and incomplete, AVs must be able to cooperate to coordinate sensor assignments in the most efficient way possible. The environments in which such teams are deployed are spatially complex, introducing additional uncertainty arising from perceptual occlusions and the like. In addition to target tracking, we also plan to develop distributed algorithms for dynamically clustering vehicles around objects of interest (e.g. to protect a convoy). Existing approaches to coordinating the activities of AVs have focused on essentially 2D environments.
Integrating Mission, Robot Localization and Communication Requirements Through Collaboration
2005
8 pages
Report
No indication
English
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