On Self-assessment of Proficiency of Autonomous Systems

Djurić, Petar M.; Closas, Pau

doi:10.1109/icassp.2019.8682730

Cited by 2 publications

(1 citation statement)

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“…One possible solution is based on minimizing the root mean squared error (RMSE) of the source position estimate. However, the RMSE is strictly related to the adopted estimator and requires the knowledge of the actual source position (that is the parameter to be estimated) [19], whereas the trajectory planner should be valid for any estimator, and agnostic with respect to the actual source position. To meet the requirement of invariance over estimators, we chose the following cost functions [10]: Consequently, the control law at time instant k at the ith UAV is the solution of the following minimization problem:…”

Section: Uav Navigationmentioning

confidence: 99%

Non-Centralized Navigation for Source Localization by Cooperative UAVs

Guerra

Dardari

Djurić

2019

2019 27th European Signal Processing Conference (EUSIPCO)

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In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through adhoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fashion. The collected data are disseminated through the network via multi-hops, therefore being subject to latency. Since not all the paths are equal in terms of information gathering rewards, the motion planning is formulated as a minimization of the uncertainty of the source position under UAV kinematic and anti-collision constraints and performed by 3D non-linear programming. The proposed analysis takes into account non-line-of-sight (NLOS) channel conditions as well as measurement age caused by the latency constraints in communication.

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Section: Uav Navigationmentioning

confidence: 99%