Intelligent Cooperative Control for Urban Tracking

Authors:
Kevin Cook;Everett Bryan;Huili Yu;He Bai;Kevin Seppi;Randal Beard
Affiliations:
Brigham Young University, Provo, USA 84602;Brigham Young University, Provo, USA 84602;Utopia Compression Corporation, Los Angeles, USA 90064;Utopia Compression Corporation, Los Angeles, USA 90064;Brigham Young University, Provo, USA 84602;Brigham Young University, Provo, USA 84602
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

We introduce an intelligent cooperative control system for ground target tracking in a cluttered urban environment with a team of autonomous Unmanned Air Vehicles (UAVs). We extend the work of Yu et al. to use observations of target position to learn a model of target motion. Simulated cooperative control of a team of 9 UAVs in a 100-block city filled with various sizes of buildings verifies that learning a model of target motion can improve target tracking performance.