Implementation of a Decentralised Sensing Network aboard Multiple UAVs

Nettleton, Eric; Ridley, Matthew; Sukkarieh, Salah; Göktoğan, Ali Haydar; Durrant‐Whyte, Hugh

doi:10.1023/b:tels.0000029042.75697.f0

Cited by 8 publications

(4 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We explore the benefits of three different techniques for target localization in a multisensor environment using only an angle-of-arrival (AOA) sensor information. Namely, we investigate the performance of triangulation [13], angle-rate [14], and Kalman filtering [15], [16] techniques. This paper is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Control of UAVs for Localization of Intermittently Emitting Mobile Targets

Pack

DeLima

Toussaint

et al. 2009

IEEE Trans. Syst., Man, Cybern. B

View full text Add to dashboard Cite

Compared with a single platform, cooperative autonomous unmanned aerial vehicles (UAVs) offer efficiency and robustness in performing complex tasks. Focusing on ground mobile targets that intermittently emit radio frequency signals, this paper presents a decentralized control architecture for multiple UAVs, equipped only with rudimentary sensors, to search, detect, and locate targets over large areas. The proposed architecture has in its core a decision logic which governs the state of operation for each UAV based on sensor readings and communicated data. To support the findings, extensive simulation results are presented, focusing primarily on two success measures that the UAVs seek to minimize: overall time to search for a group of targets and the final target localization error achieved. The results of the simulations have provided support for hardware flight tests.

show abstract

Section: Introductionmentioning

confidence: 99%

Cooperative Control of UAVs for Localization of Intermittently Emitting Mobile Targets

Pack

DeLima

Toussaint

et al. 2009

IEEE Trans. Syst., Man, Cybern. B

View full text Add to dashboard Cite

show abstract

“…Environmental sensors are also used for Ambient Intelligence application [38] in order to give services to the users, in this field can be also performed the video radio fusion aiming to a better localization of the users in the area of interest [14]. Video, RADAR and GPS signals can be integrated both to monitor an area like in [43] or for safety scopes for example in driver assistance (e.g. [57], [47] and [29]).…”

Section: Physical Architecture Designmentioning

confidence: 99%

“…In [43] a distributed data fusion approach is proposed based on the information form of the Kalman Filter. The decentralized node architecture is obtained by computing local estimates using local available observations with local prior information.…”

Section: Bayesian Filtering In Distributed Architecturesmentioning

confidence: 99%

“…Generally this kind of network allows dynamic changes in the network, ensuring to the system characteristics of scalability, modularity and survival to loss or addition of nodes. In [43] a system with a decentralized system is described where unmanned air vehicles are equipped with GPS, inertial sensor, a vision system and a mm-wave radar or laser sensor. These vehicles are connected with a fully decentralized, scalable and modular architecture and the task of the system is to perform position and velocity estimation of ground targets.…”

Section: Network Topologies In Distributed Architecturementioning

confidence: 99%

See 1 more Smart Citation