Autonomous search and counter-targeting using Levy search models

Stevens, Tim; Chung, Timothy H.

doi:10.1109/icra.2013.6631134

Cited by 7 publications

(7 citation statements)

References 11 publications

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“…The success of a network of mobile robotic sensors searching for targets in an unknown three-dimensional environment depends on the efficiency of the employed search strategy [157]. There are two target search approaches named random search and deterministic search.…”

Section: Distributed Bio-inspired Algorithm For Search Of Moving Targetsmentioning

confidence: 99%

“…In [81], a randomized algorithm, based on the Levy flight, for locating sparse targets in a three-dimensional bounded aquatic or air environments was proposed. In [157], the authors show that using the Levy distribution exhibits advantages over a continuous sweeping search for moving targets in 2D environments. Most of the previous works are restricted to two dimensional spaces, and some of them do not consider cooperation and communication amongst robots [64].…”

Section: Distributed Bio-inspired Algorithm For Search Of Moving Targetsmentioning

confidence: 99%

See 1 more Smart Citation

Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks

Nazarzehi¹

2016

Preprint

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Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned with the problem of decentralized self-deployment of mobile robotic sensor networks for coverage, search, and formation building in three-dimensional environments. The first part of the report investigates the problem of complete sensing coverage in three-dimensional spaces. We propose a decentralized random algorithm to drive mobile robotic sensors on the vertices of a truncated octahedral grid for complete sensing coverage of a bounded 3D area. Then, we develop a decentralized random algorithm for self deployment of mobile robotic sensors to form a desired geometric shape on the vertices of the truncated octahedral grid. The second part of this report studies the problem of search in 3D spaces. We present a distributed random algorithm for search in bounded three dimensional environments. The proposed algorithm utilizes an optimal three dimensional grid for the search task. Third, we study the problem of locating static and mobile targets in a bounded 3D space by a network of mobile robotic sensors. We introduce a novel decentralized bio-inspired random search algorithm for finding static and mobile objects in 3D areas. This algorithm combines the Levy flight random search mechanism with a 3D covering grid. Using this algorithm, the mobile robotic sensors randomly move on the vertices of the covering grid with the length of the movements follow a Levy fight distribution. This report studies the problem of 3D formation building in 3D spaces by a network of mobile robotic sensors. Decentralized consensus-based control law for the multi-robot system which results in forming a given geometric configuration from any initial positions in 3D environments is proposed. Then, a decentralized random motion coordination law for the multi-robot system for the case when the mobile robots are unaware of their positions in the configuration in three dimensional environments is presented. The proposed algorithms use some simple consensus rules for motion coordination and building desired geometric patterns. Convergence of the mobile robotic sensors to the given configurations are shown by extensive simulations. Moreover, a mathematically rigorous proof of convergence of the proposed algorithms to the given configurations are given. i v LIST OF FIGURES vi 4.4 Trajectories of mobile sensors performing bio-inspired Levy flight random search for locating sparsely located targets. mobile sensors' trajectories denoted by -, vertices of the common grid by o, targets by star. .

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Section: Distributed Bio-inspired Algorithm For Search Of Moving Targetsmentioning

confidence: 99%

Section: Distributed Bio-inspired Algorithm For Search Of Moving Targetsmentioning

confidence: 99%

Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks

Nazarzehi¹

2016

Preprint

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“…In [18], a randomized algorithm, based on the Levy flight, for locating sparse targets in a three-dimensional bounded aquatic or air environments was proposed. In [4], authors show that using the Levy distribution exhibits advantages over a continuous sweeping search for moving targets in 2D environments. Most of the previous works are restricted to two dimensions, and some of them do not consider cooperation and communication amongst robots [19].…”

Section: Introductionmentioning

confidence: 99%

“…To do the search task a team of mobile robots equipped with sensing peripherals capability is deployed in the search area to detect targets like sea mines, black boxes from downed aircraft or ships, hazardous chemicals, fire spots in jungles or to measure the concentration of hazardous materials [1], [2], [3], [4], [5], [6], [7], [8], [9], [10]. The success of a network of mobile robots searching for targets in an unknown three dimensional environment depends on the efficiency of the employed search strategy [4]. There are two target search approaches named random search and deterministic search.…”

Section: Introductionmentioning

confidence: 99%

A distributed bio-inspired algorithm for search of moving targets in three dimensional spaces

Nazarzehi

Baranzadeh

2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper considers the problem of detecting mobile targets moving in a 3D space by a mobile robotic sensor network. We propose a bio-inspired random search mechanism supplemented with a grid based distribution strategy for search in bounded 3D areas. Using this algorithm, the mobile robots do the search task by randomly moving to the vertices of a common 3D covering grid from any initial position. The proposed algorithm uses some simple consensus rules for building a common covering grid, also it uses a random walk search pattern drawn by a Levy flight probability distribution to do the search task. Performance of the proposed algorithm is evaluated by simulations and comparison to the Levy walk random search method. Also, we give mathematically rigorous proof of convergence with probability 1 of the proposed algorithm.

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“…Topics include the relationship and interaction between human operators and the UAV 7,8 ; the various and ever growing payloads that the UAV can carry 9 ; off-board sensor processing such as image processing 10,11 ; the maneuvering or inflight control of the UAV 12,13 ; and flight planning or task-specific search patterns 14,15 .…”

Section: Introductionmentioning

confidence: 99%

Coordinating UAV information for executing national security-oriented collaboration

Isenor

Allard²,

Lapinski

et al. 2014

Unmanned/Unattended Sensors and Sensor Networks X

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Unmanned Aerial Vehicles (UAVs) are being used by numerous nations for defence-related missions. In some cases, the UAV is considered a cost-effective means to acquire data such as imagery over a location or object. Considering Canada's geographic expanse, UAVs are also being suggested as a potential platform for use in surveillance of remote areas, such as northern Canada. However, such activities are typically associated with security as opposed to defence. The use of a defence platform for security activities introduces the issue of information exchange between the defence and security communities and their software applications. This paper explores the flow of information from the system used by the UAVs employed by the Royal Canadian Navy. Multiple computers are setup, each with the information system used by the UAVs, including appropriate communication between the systems. Simulated data that may be expected from a typical maritime UAV mission is then fed into the information system. The information structures common to the Canadian security community are then used to store and transfer the simulated data. The resulting data flow from the defence-oriented UAV system to the security-oriented information structure is then displayed using an open source geospatial application. Use of the information structures and applications relevant to the security community avoids the distribution restrictions often associated with defence-specific applications.

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Autonomous search and counter-targeting using Levy search models

Cited by 7 publications

References 11 publications

Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks

Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks

A distributed bio-inspired algorithm for search of moving targets in three dimensional spaces

Coordinating UAV information for executing national security-oriented collaboration

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