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Cooperative Control of UAVs for Tracking Moving Targets Through Information Gain

Award Information

Department of Defense
Air Force
Award ID:
Program Year/Program:
2004 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Toyon Research Corporation
6800 Cortona Drive Goleta, CA 93117-3021
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2004
Title: Cooperative Control of UAVs for Tracking Moving Targets Through Information Gain
Agency / Branch: DOD / USAF
Contract: FA9550-04-C-0071
Award Amount: $100,000.00


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.

Principal Investigator:

Mark R. Meloon
Senior Analyst

Business Contact:

Marcella R. Lindbery
Director of Finance and Contracts
Small Business Information at Submission:

Suite A, 75 Aero Camino Goleta, CA 93117

EIN/Tax ID: 953526665
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
Univ. of California, Santa Barbara
Dept. of Electrical & Computer, University of California
Santa Barbara, CA 93106
Contact: Joao P. Hespanha
Contact Phone: (805) 893-7042
RI Type: Nonprofit college or university