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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/97257 http://hdl.handle.net/10220/11816 |
| _version_ | 1824455171399221248 |
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| author | Hu, Jinwen Xie, Lihua Xu, Jun |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Hu, Jinwen Xie, Lihua Xu, Jun |
| author_sort | Hu, Jinwen |
| collection | NTU |
| 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. |
| first_indexed | 2025-02-19T03:33:58Z |
| format | Conference Paper |
| id | ntu-10356/97257 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:33:58Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-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 |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering Hu, Jinwen Xie, Lihua Xu, Jun Vision-based multi-agent cooperative target search |
| title | 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_short | Vision-based multi-agent cooperative target search |
| title_sort | vision based multi agent cooperative target search |
| topic | DRNTU::Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/97257 http://hdl.handle.net/10220/11816 |
| work_keys_str_mv | AT hujinwen visionbasedmultiagentcooperativetargetsearch AT xielihua visionbasedmultiagentcooperativetargetsearch AT xujun visionbasedmultiagentcooperativetargetsearch |