17 May 2012 Multi-vehicle decentralized fusion and tracking
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Abstract
In this paper, we introduce a decentralized fusion and tracking based on a distributed multi-source multitarget filtering and robust communication with the following features: (i) data reduction; (ii) a disruption tolerant dissemination procedure that takes advantage of storage and mobility; and (iii) efficient data set reconciliation algorithms. We developed and implemented complex high-fidelity marine application demonstration of this approach that encompasses all relevant environmental parameters. In the simulated example, multi-source information is fused by exploiting sensors from disparate Unmanned Underwater Vehicles (UUV) and Unmanned Surface Vehicle (USV) multi-sensor platforms. Communications among the platforms are continuously establishing and breaking depending on the time-changing geometry. We compare and evaluate the developed algorithms by assessing their performance against different scenarios.
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A. El-Fallah, A. El-Fallah, A. Zatezalo, A. Zatezalo, R. Mahler, R. Mahler, R. K. Mehra, R. K. Mehra, } "Multi-vehicle decentralized fusion and tracking", Proc. SPIE 8392, Signal Processing, Sensor Fusion, and Target Recognition XXI, 83920I (17 May 2012); doi: 10.1117/12.919416; https://doi.org/10.1117/12.919416
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