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Báo cáo hóa học: " Research Article A POMDP Framework for Coordinated Guidance of Autonomous UAVs for Multitarget Tracking"

RTuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: esearch Article A POMDP Framework for Coordinated Guidance of Autonomous UAVs for Multitarget Tracking | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID 724597 17 pages doi 10.1155 2009 724597 Research Article A POMDP Framework for Coordinated Guidance of Autonomous UAVs for Multitarget Tracking Scott A. Miller 1 Zachary A. Harris 1 and Edwin K. P. Chong2 1 Numerica Corporation 4850 Hahns Peak Drive Suite 200 Loveland CO 80538 USA 2 Department of Electrical and Computer Engineering ECE Colorado State University Fort Collins cO 80523-1373 USA Correspondence should be addressed to Scott A. Miller scott.miller@numerica.us Received 1 August 2008 Accepted 1 December 2008 Recommended by Matthijs Spaan This paper discusses the application of the theory of partially observable Markov decision processes POMDPs to the design of guidance algorithms for controlling the motion of unmanned aerial vehicles UAVs with onboard sensors to improve tracking of multiple ground targets. While POMDP problems are intractable to solve exactly principled approximation methods can be devised based on the theory that characterizes optimal solutions. A new approximation method called nominal belief-state optimization NBO combined with other application-specific approximations and techniques within the POMDP framework produces a practical design that coordinates the UAVs to achieve good long-term mean-squared-error tracking performance in the presence of occlusions and dynamic constraints. The flexibility of the design is demonstrated by extending the objective to reduce the probability of a track swap in ambiguous situations. Copyright 2009 Scott A. Miller et al. 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. 1. Introduction Interest in unmanned aerial vehicles UAVs for applications such as surveillance search and target tracking has increased in recent years owing to significant .