Cooperative Control of UAVs for Tracking Moving Targets Through Information Gain
Agency / Branch:
DOD / USAF
Toyon Research Corporation and the University of California at Santa Barbara propose to develop algorithms for the dynamic management of sensors onboard small, autonomous Unmanned Air Vehicles (UAVs) to execute Cooperative Search, Acquisition, and Tracking (CSAT) of multiple moving ground targets. In our approach, UAV flight paths and sensor operations are dynamically selected in order to minimize the information-theoretic entropy of a common fusion and tracking database subject to line-of-sight, communications, standoff-range, and sensor usage constraints. Cooperative management of a heterogeneous mix of sensors will provide the data necessary for a data fusion and target tracking system to perform CSAT operations even in the presence of obscuration. Routing of the UAVs is performed using cooperative control theory while management of the sensors onboard is accomplished through Toyon's existing optimization techniques. We will demonstrate the effectiveness of our algorithm using our software testbed SLAMEMT on an example problem. In Phase II, we would work to refine our algorithm, perform a physical demonstration of the system, and expand our focus to include the CSAT of sea-based targets in a littoral environment.
Small Business Information at Submission:
Marcella R. Lindbery
Director of Finance and Contracts
Research Institution Information:
TOYON RESEARCH CORP.
Suite A, 75 Aero Camino Goleta, CA 93117
Number of Employees:
Univ. of California, Santa Barbara
Dept. of Electrical & Computer, University of California
Santa Barbara, CA 93106
Joao P. Hespanha
Nonprofit college or university