Integrating Mission, Robot Localization and Communication Requirements Through Collaboration

Abstract

To develop a de-centralized system for allocating mobile sensor assets controlled by teams of autonomous air vehicle (AVs) and deployed in spatially complex urban environments. The sensor assets are to support AV missions involving the pursuit of one or more mobile intelligent ground adversaries. Since sensor information is typically uncertain and incomplete, AVs must be able to cooperate to coordinate sensor assignments in the most efficient way possible. The environments in which such teams are deployed are spatially complex, introducing additional uncertainty arising from perceptual occlusions and the like. In addition to target tracking, we also plan to develop distributed algorithms for dynamically clustering vehicles around objects of interest (e.g. to protect a convoy). Existing approaches to coordinating the activities of AVs have focused on essentially 2D environments.

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Document Details

Document Type
Technical Report
Publication Date
May 06, 2005
Accession Number
ADA434157

Entities

People

  • Charles L. Ortiz

Organizations

  • SRI International

Tags

Communities of Interest

  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Artificial Intelligence
  • Computations
  • Environment
  • Expeditionary Warfare
  • Flight Paths
  • Materials
  • Military Research
  • Motion Planning
  • Reasoning
  • Robotic Swarms
  • Simulations
  • Target Tracking
  • Teamwork
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Critical Infrastructure Protection in CBRN and WMD Threats.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy
  • Autonomy - Autonomous System Control