1 May 2007 Multiplatform information-based sensor management: an inverted UAV demonstration
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This paper describes an experimental demonstration of a distributed, decentralized, low communication sensor management algorithm. We first review the mathematics surrounding the method, which includes a novel combination of particle filtering for predictive density estimation and information theory for maximizing information flow. Earlier work has shown the utility via Monte Carlo simulations. Here we present a laboratory demonstration to illustrate the utility and to provide a stepping stone toward full-up implementation. To that end, we describe an inverted Unmanned Aerial Vehicle (UAV) test-bed developed by The General Dynamics Advanced Information Systems (GDAIS) Michigan Research and Development Center (MRDC) to facilitate and promote the maturation of the research algorithm into an operational, field-able system. Using a modular design with wheeled robots as surrogates to UAVs, we illustrate how the method is able to detect and track moving targets over a large surveillance region by tasking a collection of limited field of view sensors.
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Chris Kreucher, Chris Kreucher, John Wegrzyn, John Wegrzyn, Michel Beauvais, Michel Beauvais, Ralph Conti, Ralph Conti, } "Multiplatform information-based sensor management: an inverted UAV demonstration", Proc. SPIE 6578, Defense Transformation and Net-Centric Systems 2007, 65780Y (1 May 2007); doi: 10.1117/12.719395; https://doi.org/10.1117/12.719395

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