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Sensors 2015, 15(1), 1365-1388;

Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48105, USA
Author to whom correspondence should be addressed.
Received: 17 October 2014 / Accepted: 4 January 2015 / Published: 13 January 2015
(This article belongs to the Special Issue UAV Sensors for Environmental Monitoring)
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This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles’ paths nominally. The algorithm uses detections from the sensors to predict intruders’ locations and selects the vehicles’ paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm’s completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios. View Full-Text
Keywords: sensor networks; target tracking; path planning for multiple UAVs sensor networks; target tracking; path planning for multiple UAVs

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Las Fargeas, J.; Kabamba, P.; Girard, A. Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors. Sensors 2015, 15, 1365-1388.

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