Multiple Event Localization in a Sparse Acoustic Sensor Network Using UAVs as Data Mules

Abstract

Results from a field demonstration of autonomous detection, localization, and verification of multiple acoustic events using sparsely deployed unattended ground sensors, unmanned aerial vehicles (UAV) as data mules, and a ground control interface are discussed. A novel algorithm is demonstrated to address the problem of multiple event acoustic source localization in the presence of false and missed detections. We also demonstrate an algorithm to route a UAV equipped with a radio to collect data from sparsely deployed ground sensors that takes advantage of communication range of the aircraft while adhering to kinematic constraints of the UAV. A second UAV was utilized to provide video verification of localized events to a human operator at a ground control station.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2012
Accession Number
ADA576111

Entities

People

  • Jason T. Isaacs
  • Jerry Burman
  • João Hespanha
  • Sriram Venkateswaran
  • Tien Pham
  • Upamanyu Madhow

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Acoustic Detectors
  • Aircrafts
  • Algorithms
  • Demonstrations
  • Deployment
  • Detectors
  • Engineering
  • Graphs
  • Homeland Security
  • Measurement
  • Military Research
  • Motion Planning
  • Networks
  • Sensor Networks
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Distributed Systems and Data Platform Development
  • Robotics and Automation.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy