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Sensors 2014, 14(6), 9408-9428;

Multi-Agent Cooperative Target Search

Singapore Institute of Manufacturing Technology, Singapore 638075, Singapore
The School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore
Western Digital Corporation, Singapore 118261, Singapore
Institute of High Performance Computing, Singapore 138632, Singapore
Author to whom correspondence should be addressed.
Received: 25 February 2014 / Revised: 16 May 2014 / Accepted: 20 May 2014 / Published: 26 May 2014
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [2384 KB, uploaded 21 June 2014]


This paper addresses a vision-based cooperative search for multiple mobile ground targets by a group of unmanned aerial vehicles (UAVs) with limited sensing and communication capabilities. The airborne camera on each UAV has a limited field of view and its target discriminability varies as a function of altitude. First, by dividing the whole surveillance region into cells, a probability map can be formed for each UAV indicating the probability of target existence within each cell. Then, we propose a distributed probability map updating model which includes the fusion of measurement information, information sharing among neighboring agents, information decay and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem as a multi-agent cooperative coverage control problem by optimizing the collective coverage area and the detection performance. The proposed map updating model and the cooperative control scheme are distributed, i.e., assuming that each agent only communicates with its neighbors within its communication range. Finally, the effectiveness of the proposed algorithms is illustrated by simulation. View Full-Text
Keywords: UAV; multi-agent network; target search; cooperative control UAV; multi-agent network; target search; cooperative control
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Hu, J.; Xie, L.; Xu, J.; Xu, Z. Multi-Agent Cooperative Target Search. Sensors 2014, 14, 9408-9428.

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