Download or read book Cooperative Autonomous Tracking and Prosecution of Targets Using Range only Sensors written by Arthur Douglas Anderson (III) and published by . This book was released on 2013 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous platforms and systems are becoming ever more prevalent. They have become smaller, cheaper, have longer duration times, and now more than ever, more capable of processing large amounts of information. Despite these significant technological advances, there is still a level of distrust for the public autonomous systems. In marine and underwater vehicles, autonomy is particularly important being that communications to and from those vehicles are limited, either due to the length of the mission, the distance from their human operators, the sheer number of vehicles being used, or the data transfer rate available from a remote operator to an underwater vehicle through acoustics. The premise for this research is to use the MOOS-IvP code architecture, developed at MIT, to promote and advance marine vehicle autonomy collective knowledge through a project called Hunter-Prey. In this scenario, two or more surface vehicles attempt to cooperatively track an evading underwater target using range-only sensors, and ultimately maneuver into position for a "kill" using a simulated depth charge. This scenario will be distributed to the public through academic institutions and interested parties, who will submit code for the vehicles to compete against one another. The goal for this project is to create and foster an open-source environment where parties can compete and cooperate toward a common goal, the advancement of marine vehicle autonomy. In this paper, the Hunter-Prey scenario is developed, a nominal solution is created, and the parameters for the scenario are analyzed using regression testing through simulation and statistical analysis.
Download or read book Cooperative Target Tracking in a Distributed Autonomous Sensor Network written by and published by . This book was released on 2006 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper describes an investigation into the control of multiple, cooperating autonomous sensor platforms operating in a marine sensor network. Distributed sensors allow us to view phenomena of interest from multiple, simultaneous vantage points, creating significant processing gain from the spatial diversity. The major objective of this paper is to describe a framework for adaptive and cooperative control of the autonomous sensor platforms in such a network. This framework has two major components, an intelligent sensor that provides highlevel state information to a behavior-based autonomous vehicle control system and a new approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive control in complex environments with multiple constraints. Experimental results are presented for a 2-D target tracking application in which a pair of fully autonomous surface craft using simulated bearing sensors acquire and track a moving target. From these results, it is readily seen that there is the potential for potent synergy from the cooperation of multiple sensor platforms.
Download or read book Multi Target Multi Sensor Tracking Using Only Range and Doppler Measurements written by and published by . This book was released on 2009 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new approach is described for combining range and Doppler data from multiple radar platforms to perform multi-target detection and tracking. In particular, azimuthal measurements are assumed to be either coarse or unavailable, so that multiple sensors are required to triangulate target tracks using range and Doppler measurements only. Increasing the number of sensors can cause data association by conventional means to become impractical due to combinatorial complexity, i.e., an exponential increase in the number of mappings between signatures and target models. In the new approach, the data association is performed probabilistically, using a variation of expectation-maximization (EM). Combinatorial complexity is avoided by performing an efficient optimization in the space of all target tracks and mappings between tracks and data. The full, multi-sensor, version of the algorithm is tested on simulated data. The results demonstrate that accurate tracks can be estimated by exploiting spatial diversity in the sensor locations. These results are promising, and demonstrate robustness in the presence of nonhomogeneous clutter.
Download or read book Tracking a Non cooperative Target Using a Doppler Radar Wireless Sensor Network written by Michael K. Blaser and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Cooperative Multi sensor Data Fusion to Geo localize Ground Moving Targets Using an Aerial Sensor and a Human as an Additional Sensor written by Azima Motaghi and published by . This book was released on 2014 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability to track targets using Unmanned Aerial Vehicles (UAVs) has a wide range of civilian and military applications. For example, for military personnel, it is critical to track and locate a variety of objects, including the movement of enemy vehicles. For civilian applications, we can easily find UAVs performing tasks related to land survey, weather forecasting, search and rescue missions, and monitoring farm crops. This study presents a novel method for determining the locations of moving ground-based targets using UAVs and human operators. In previous research, Sharma et al. [1] developed a vision-based target tracking algorithm. They used a Kalman-filter to estimate the target's position and velocity. An information-filter was used to control the sensor. Targets were geo-localized using the pixel locations of the targets in an image. The measurements of the UAV position, altitude, and camera pose angle along with the information embedded in the image provide the required input to an estimator to geo-locate ground targets. Using the highly sophisticated skills of humans for sensing environments, we are interested in integrating the abilities of human operators as a part of sensor network. The main contribution of this thesis is a cyber-physical system developed for reducing the localization errors of targets observed by either UAVs or humans working cooperatively. In particular, in the process of developing the system, we developed (1) an Extended Kalman Filter (EKF) based algorithm to estimate the positions of multiple targets, (2) a human sensor model using neural networks, and (3) a weighted filter to fuse local target estimations from multiple UAVs. Human sensor inputs were utilized to improve the geo localization accuracy of target position estimates. This technique requires operators to be equipped with an Android device; providing operators an easy access to Google map and Global Positioning System (GPS); such that they can specify a target's position on the map. Each sensor, UAVs or human operators, exchanges data through a Wi-Fi sensor network. A central station is used to collect the information observed by independent sensors for data fusion and combines them to generate more accurate estimates that would not be available from any single UAV or a human operator. The capability of the system was demonstrated using simulation results and Android hardware.
Download or read book Regional Target Surveillance with Cooperative Robots Using APFs written by Jessica G. LaRocque and published by . This book was released on 2010 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Target surveillance in a bounded environment has been a growing focus in the past few years, particularly with recent world events prompting the need for environmental monitoring using automated surveillance. Scenarios exist where the goal is to be able to track targets within a certain distance and yet maintain a proper distribution of the surveillance units to provide field coverage. Previous works in this area using mobile robots as the surveillance units have made assumptions of a global awareness capability provided by a central controller. Artificial Potential Fields (APFs) have been used in cooperative robots and swarm research for applications such as threat containment and related formation control without as much focus on the surveillance tasks. This thesis aims to extend the use of APFs to the concept of Regional Target Surveillance in a distributed algorithm among cooperative robots, with the utilization of Voronoi cells to aid in coverage control. This investigation proposes a system to utilize only the necessary number of robots with local awareness capability. Each of these robots integrates the use of a centroid force and a target force to provide a balanced coverage and target tracking performance. This is accomplished by implicitly defining three circular regions of responsibility for each robot, namely, the full sensing region, the target tracking region, and the centroid calculation region. The target tracking region is within the full sensing region and encompasses the centroid calculation region. The centroid calculation region is used to define the Voronoi cells and thus the centroid of the responsible field of each robot. By adjusting the relative size of the three regions, the system accomplishes implicit target handoff between robots, and, in turn, provides an overall balance between regional target tracking and environmental coverage for the surveillance goal. Matlab simulation results show that with a proper balance in the tradeoff between the tracking and coverage performance, the algorithm is scalable to larger field sizes with a similar robot density, while successfully accomplishing the surveillance tasks."--Abstract.
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Download or read book Advancing Autonomous Systems written by Bradley Martin and published by . This book was released on 2018-12 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Vehicles in Support of Naval Operations written by National Research Council and published by National Academies Press. This book was released on 2005-08-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.
Download or read book C4ISR for Future Naval Strike Groups written by National Research Council and published by National Academies Press. This book was released on 2006-05-26 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Navy has put forth a new construct for its strike forces that enables more effective forward deterrence and rapid response. A key aspect of this construct is the need for flexible, adaptive command, control, communications, computers, intelligence, surveillance, and reconnaissance (C4ISR) systems. To assist development of this capability, the Navy asked the NRC to examine C4ISR for carrier, expeditionary, and strike and missile defense strike groups, and for expeditionary strike forces. This report provides an assessment of C4ISR capabilities for each type of strike group; recommendations for C4ISR architecture for use in major combat operations; promising technology trends; and an examination of organizational improvements that can enable the recommended architecture.
Download or read book Technology Development for Army Unmanned Ground Vehicles written by National Research Council and published by National Academies Press. This book was released on 2003-02-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.
Download or read book 2015 7th International Conference on Modelling Identification and Control ICMIC written by IEEE Staff and published by . This book was released on 2015-12-18 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Static and dynamic systems modeling, Control and optimization techniques, Linear and nonlinear system identification, Computational intelligence, Applications
Download or read book Rpa Vector written by United States United States Air Force and published by CreateSpace. This book was released on 2014-05-09 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: The character of future international conflicts represents a complex and unpredictable set of challenges that necessitates a significant shift in the United States' approach to warfighting. Strategic guidance in Sustaining U.S. Global Leadership: Priorities for 21st Century Defense reinforces that -...the United States will continue to take an active approach to countering...threats by monitoring the activities of non-state threats worldwide, working with allies and partners to establish control over ungoverned territories, and directly striking the most dangerous groups and individuals when necessary. The U.S. Air Force (USAF) Remotely Piloted Aircraft (RPA) Vector-Vision and Enabling Concepts: 2013-2038 balances the effects envisioned in the USAF Unmanned Aircraft Systems Flight Plan 2009-2047 with the reality of constrained resources and ambitious national strategy for a complex world. More importantly, as a visionary document, the RPA Vector opens the aperture beyond current austere fiscal realities to explore art of the possible technologies in the 2013-2038 timeframe. The intent is to examine technological advances necessary to enable the Air Force's future RPA force.
Download or read book Command Of The Air written by General Giulio Douhet and published by Pickle Partners Publishing. This book was released on 2014-08-15 with total page 620 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the pantheon of air power spokesmen, Giulio Douhet holds center stage. His writings, more often cited than perhaps actually read, appear as excerpts and aphorisms in the writings of numerous other air power spokesmen, advocates-and critics. Though a highly controversial figure, the very controversy that surrounds him offers to us a testimonial of the value and depth of his work, and the need for airmen today to become familiar with his thought. The progressive development of air power to the point where, today, it is more correct to refer to aerospace power has not outdated the notions of Douhet in the slightest In fact, in many ways, the kinds of technological capabilities that we enjoy as a global air power provider attest to the breadth of his vision. Douhet, together with Hugh “Boom” Trenchard of Great Britain and William “Billy” Mitchell of the United States, is justly recognized as one of the three great spokesmen of the early air power era. This reprint is offered in the spirit of continuing the dialogue that Douhet himself so perceptively began with the first edition of this book, published in 1921. Readers may well find much that they disagree with in this book, but also much that is of enduring value. The vital necessity of Douhet’s central vision-that command of the air is all important in modern warfare-has been proven throughout the history of wars in this century, from the fighting over the Somme to the air war over Kuwait and Iraq.
Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.
Download or read book Bulletin of the Atomic Scientists written by and published by . This book was released on 1988-09 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.
