Cooperative Control of UAVs for Tracking Moving Targets Through Information Gain

Award Information
Agency:
Department of Defense
Branch
Air Force
Amount:
$100,000.00
Award Year:
2004
Program:
STTR
Phase:
Phase I
Contract:
FA9550-04-C-0071
Award Id:
67927
Agency Tracking Number:
F045-011-0286
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
Suite A, 75 Aero Camino, Goleta, CA, 93117
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
054672662
Principal Investigator:
Mark Meloon
Senior Analyst
(805) 968-6787
mmeloon@toyon.com
Business Contact:
Marcella Lindbery
Director of Finance and Contracts
(805) 968-6787
mlindbery@toyon.com
Research Institute:
Univ. of California, Santa Barbara
Joao P Hespanha
Dept. of Electrical & Computer, University of California
Santa Barbara, CA, 93106
(805) 893-7042
Nonprofit college or university
Abstract
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.

* information listed above is at the time of submission.

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