Urban target search and tracking using a UAV and unattended ground sensors
作者： J.-P. Ramirez-Paredes , E. A. Doucette , J. W. Curtis , N. R. Gans
关键词:
摘要: We present a framework to search for and track target within an urban environment by fusing data from Unmanned Aerial Vehicle Unattended Ground Sensors. The UAV are restricted road network modeled as directed graph with the ground sensors deployed along selected edges. is equipped onboard camera capable of detecting target, it guided information-theoretic planner that uses particle filter estimate state its input. introduce method process out-of-sequence measurements exploits time-sparseness UGS readings reduce computational complexity. Finally, we simulation results on real networks show tracking performance gains in computation time our approach.
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