Cooperative Control of UAVs for Tracking Moving Targets Through Information Gain

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA9550-04-C-0071
Agency Tracking Number: F045-011-0286
Amount: $100,000.00
Phase: Phase I
Program: STTR
Awards Year: 2004
Solicitation Year: 2004
Solicitation Topic Code: AF04-T011
Solicitation Number: N/A
Small Business Information
Suite A, 75 Aero Camino, Goleta, CA, 93117
DUNS: 054672662
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Mark Meloon
 Senior Analyst
 (805) 968-6787
Business Contact
 Marcella Lindbery
Title: Director of Finance and Contracts
Phone: (805) 968-6787
Research Institution
 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
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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