Probabilistic search with agile UAVs

Waharte, Sonia; Symington, Andrew; Trigoni, Niki

doi:10.1109/robot.2010.5509962

Cited by 33 publications

(38 citation statements)

References 10 publications

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“…Our initial modeling efforts and theoretical findings were corroborated with extensive field experiments demonstrating the validity of our assumptions [4]. A characteristic aspect of this class of vehicles is that their sensing resolution can be adjusted on the fly by varying their elevation -a fact already evidenced in [14]. Therefore, when planning how to allocate the search effort in space and time, one should also explicitly consider the variable sensor accuracy, defined here as detection probabilities.…”

Section: Introductionsupporting

confidence: 58%

Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers

Basilico

Chung

Carpin

2016

Springer Tracts in Advanced Robotics

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We consider the problem of patrolling an assigned area using a team of heterogeneous robots consisting of sentinels and searchers in the presence of stochastic arrivals of attacks. Sentinels and searchers operate using a different sensor model featuring a tradeoff between accuracy and the sensed area. Using an approach based on queuing theory, we derive an accurate analytic characterization of the patrolling performance that can be used to predict the behavior of a given configuration or inform the composition of a team in order to meet a desired target performance. Extensive simulation results corroborate our theoretical findings.

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Section: Introductionsupporting

confidence: 58%

Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers

Basilico

Chung

Carpin

2016

Springer Tracts in Advanced Robotics

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“…Moreover, when equipped with downward pointing cameras for target detection, a change in elevation translates to a change in size of the sensor footprint, as well as a variation in the sensor accuracy. This fact was already noticed and investigated in [17]. These considerations recently motivated us to develop a variable resolution data structure to study tasks where the searcher is equipped with a sensor with variable footprint and accuracy [4].…”

Section: Introductionmentioning

confidence: 88%

Searching for multiple targets using Probabilistic Quadtrees

Carpin

Burch²,

Chung³

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We consider the problem of searching for an unknown number of static targets inside an assigned area. The search problem is tackled using Probabilisitic Quadtrees (PQ), a data structure we recently introduced. Probabilistic quadtrees allow for a variable resolution representation and naturally induce a search problem where the searcher needs to choose not only where to sense, but also the sensing resolution. Through a Bayesian approach accommodating faulty sensors returning both false positives and missed detections, a posterior distribution about the location of the targets is propagated during the search effort. In this paper we extend our previous findings by considering the problem of searching for an unknown number of targets. Moreover, we substitute our formerly used heuristic with an approach based on information gain and expected costs. Finally, we provide some convergence results showing that in the worst case our model provides the same results as uniform grids, thus guaranteeing that the representation we propose gracefully degrades towards a known model. Extensive simulation results substantiate the properties of the method we propose, and we also show that our variable resolution method outperforms traditional methods based on uniform resolution grids.

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“…T to b T of weight w which is a sequence of vertices 12 , , , n V V V following these rules mentioned below a.…”

Section: Determine Path From Amentioning

confidence: 99%

“…In [10], an incomplete information pursuit-evasion game for multiple players is presented and the strategies for the A strategic approach based on probabilistic search is discussed that involves multiple observations of the grid cells. The surveillance regions completely/partially cover multiple grid cells and also consider the changes in UAV altitude [12]. The strategies for multi-UAV cooperative search are addressed based on cumulative target existence probabilities and shows that the cooperation and types of shared information determine detection errors and search time.…”

Section: Introductionmentioning

confidence: 99%

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Strategies for Searching Targets Using Mobile Sensors in Defense Scenarios

Hazra¹,

Kumar²,

Nene³

2017

IJITCS

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Abstract-Target searching is one of the challenging research areas in defense. Different types of sensor networks are deployed for searching targets in critical zones. The selection of optimal strategies for the sensor nodes under certain constraints is the key issue in target searching problem. This paper addresses a number of target searching problems related to various defense scenarios and introduces new strategic approaches to facilitate the search operation for the mobile sensors in a two-dimensional bounded space. The paper classifies the target searching problems into two categories: preference-based and traversal distance based. In the preference based problems, the strategies for the mobile sensors are determined by Stable Marriage Problem, College Admission Problem, and voting system; they are analyzed with suitable examples. Alternatively, traversal distance based problems are solved by our proposed graph searching approaches and analyzed with randomly chosen examples. Results obtained from the examples signify that our proposed models can be applied in defense-related target searching problems.

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Probabilistic search with agile UAVs

Cited by 33 publications

References 10 publications

Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers

Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers

Searching for multiple targets using Probabilistic Quadtrees

Strategies for Searching Targets Using Mobile Sensors in Defense Scenarios

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