Multi-agent cooperative target search
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 functio...
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sg-ntu-dr.10356-1018672022-02-16T16:28:43Z Multi-agent cooperative target search Hu, Jinwen Xie, Lihua Xu, Jun Xu, Zhao School of Electrical and Electronic Engineering A*STAR SIMTech DRNTU::Engineering::Electrical and electronic engineering 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. Published version 2014-06-13T05:37:25Z 2019-12-06T20:46:02Z 2014-06-13T05:37:25Z 2019-12-06T20:46:02Z 2014 2014 Journal Article Hu, J., Xie, L., Xu, J., & Xu, Z. (2014). Multi-Agent Cooperative Target Search. Sensors, 14(6), 9408-9428. 1424-8220 https://hdl.handle.net/10356/101867 http://hdl.handle.net/10220/19752 10.3390/s140609408 24865884 en Sensors © 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/). application/pdf |
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DRNTU::Engineering::Electrical and electronic engineering Hu, Jinwen Xie, Lihua Xu, Jun Xu, Zhao Multi-agent cooperative target search |
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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. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Hu, Jinwen Xie, Lihua Xu, Jun Xu, Zhao |
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Article |
author |
Hu, Jinwen Xie, Lihua Xu, Jun Xu, Zhao |
author_sort |
Hu, Jinwen |
title |
Multi-agent cooperative target search |
title_short |
Multi-agent cooperative target search |
title_full |
Multi-agent cooperative target search |
title_fullStr |
Multi-agent cooperative target search |
title_full_unstemmed |
Multi-agent cooperative target search |
title_sort |
multi-agent cooperative target search |
publishDate |
2014 |
url |
https://hdl.handle.net/10356/101867 http://hdl.handle.net/10220/19752 |
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1725985514954162176 |