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Autonomous UAV path planning and estimation
Abstract
Unmanned aerial vehicles (UAVs) have shown promise in recent years for autonomous sensing. UAVs systems have been proposed for a wide range of applications such as mapping, surveillance, search, and tracking operations. The recent availability of low-cost UAVs suggests the use of teams of vehicles to perform sensing tasks. To leverage the capabilities of a team of vehicles, efficient methods of decentralized sensing and cooperative path planning are necessary. The goal of this work is to examine practical control strategies for a team of fixed-wing vehicles performing cooperative sensing. We seek to develop decentralized, autonomous control strategies that can account for a wide variety of sensing missions. Sensing goals are posed from an information theoretic standpoint to design strategies that explicitly minimize uncertainty. This work proposes a tightly coupled approach, in which sensor models and estimation objectives are used online for path planning.
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Cited by
Otto, A., Agatz, N., Campbell, J., Golden, B., & Pesch, E. (2018) · Networks · doi:10.1002/net.21818 · Cited by 985
“The probability of detecting the object may be higher in the center of the sensor’s footprint and decline at the footprint’s edge [121, 142, 191, 273].”
BackgroundNazarahari, M., Khanmirza, E., & Doostie, S. (2019) · Expert Systems with Applications · doi:10.1016/j.eswa.2018.08.008 · Cited by 454
Chung, S. H., Sah, B., & Lee, J. (2020) · Computers & Operations Research · doi:10.1016/j.cor.2020.105004 · Cited by 441
Survey of Robot 3D Path Planning Algorithms
Yang, L., Qi, J., Song, D., Xiao, J., Han, J., & Xia, Y. (2016) · Journal of Control Science and Engineering · doi:10.1155/2016/7426913 · Cited by 328
Cyber security threat analysis and modeling of an unmanned aerial vehicle system
Javaid, A. Y., Sun, W., Devabhaktuni, V. K., & Alam, M. (2012) · 2012 IEEE Conference on Technologies for Homeland Security (HST) · doi:10.1109/ths.2012.6459914 · Cited by 304
Metadata
- Authors
- Tisdale, J., Kim, Z., & Hedrick, J.
- Venue
- IEEE Robotics & Automation Magazine
- Published
- 2009-06
- Volume
- 16
- Issue
- 2
- Pages
- 35-42
- ISSN
- 1070-9932 (ISSN-L)
- OpenAlex
- W2091015187
- Cited by
- 275
- References
- 0
- FWCI
- 14.29
- Type
- journal article
- Language
- en
- Open access
- closed
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