Vision-based multi-agent cooperative target search

This paper addresses 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...

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Main Authors: Hu, Jinwen, Xie, Lihua, Xu, Jun
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2013
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Online Access:https://hdl.handle.net/10356/97257
http://hdl.handle.net/10220/11816
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-972572020-03-07T12:47:13Z Vision-based multi-agent cooperative target search Hu, Jinwen Xie, Lihua Xu, Jun School of Electrical and Electronic Engineering International Conference on Control Automation Robotics & Vision (12th : 2012 : Guangzhou, China) Temasek Laboratories DRNTU::Engineering::Electrical and electronic engineering This paper addresses 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, a general target detection probability model is built based on the physical imaging process of a camera. 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 decaying and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem by multiple agents as a 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. 2013-07-18T02:05:17Z 2019-12-06T19:40:38Z 2013-07-18T02:05:17Z 2019-12-06T19:40:38Z 2012 2012 Conference Paper Hu, J., Xie, L., & Xu, J. (2012). Vision-based multi-agent cooperative target search. 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV). https://hdl.handle.net/10356/97257 http://hdl.handle.net/10220/11816 10.1109/ICARCV.2012.6485276 en © 2012 IEEE
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Hu, Jinwen
Xie, Lihua
Xu, Jun
Vision-based multi-agent cooperative target search
description This paper addresses 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, a general target detection probability model is built based on the physical imaging process of a camera. 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 decaying and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem by multiple agents as a 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.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Hu, Jinwen
Xie, Lihua
Xu, Jun
format Conference or Workshop Item
author Hu, Jinwen
Xie, Lihua
Xu, Jun
author_sort Hu, Jinwen
title Vision-based multi-agent cooperative target search
title_short Vision-based multi-agent cooperative target search
title_full Vision-based multi-agent cooperative target search
title_fullStr Vision-based multi-agent cooperative target search
title_full_unstemmed Vision-based multi-agent cooperative target search
title_sort vision-based multi-agent cooperative target search
publishDate 2013
url https://hdl.handle.net/10356/97257
http://hdl.handle.net/10220/11816
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