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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.15113 |
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| _version_ | 1866909546303193088 |
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| author | Zagar, Maxime Meyer, Luc Kieffer, Michel Piet-Lahanier, Hélène |
| author_facet | Zagar, Maxime Meyer, Luc Kieffer, Michel Piet-Lahanier, Hélène |
| contents | This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an embedded Computer Vision System (CVS), providing an image with labeled pixels and a depth map of the observed part of its environment. Moreover, a box containing the corresponding pixels in the image frame is available when a UAV identifies a target. Hypotheses regarding information provided by the pixel classification, depth map construction, and target identification algorithms are proposed to allow its exploitation by set-membership approaches. A set-membership target location estimator is developed using the information provided by the CVS. Each UAV evaluates sets guaranteed to contain the location of the identified targets and a set possibly containing the locations of targets still to be identified. Then, each UAV uses these sets to search and track targets cooperatively. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_15113 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Set-membership target search and tracking within an unknown cluttered area using cooperating UAVs equipped with vision systems Zagar, Maxime Meyer, Luc Kieffer, Michel Piet-Lahanier, Hélène Systems and Control Robotics This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an embedded Computer Vision System (CVS), providing an image with labeled pixels and a depth map of the observed part of its environment. Moreover, a box containing the corresponding pixels in the image frame is available when a UAV identifies a target. Hypotheses regarding information provided by the pixel classification, depth map construction, and target identification algorithms are proposed to allow its exploitation by set-membership approaches. A set-membership target location estimator is developed using the information provided by the CVS. Each UAV evaluates sets guaranteed to contain the location of the identified targets and a set possibly containing the locations of targets still to be identified. Then, each UAV uses these sets to search and track targets cooperatively. |
| title | Set-membership target search and tracking within an unknown cluttered area using cooperating UAVs equipped with vision systems |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2403.15113 |