DocumentCode :
1162557
Title :
Cooperative air and ground surveillance
Author :
Grocholsky, Ben ; Keller, James ; Kumar, Vijay ; Pappas, George
Author_Institution :
Inst. of Robotics, Carnegie Mellon Univ., Pittsburgh, PA
Volume :
13
Issue :
3
fYear :
2006
Firstpage :
16
Lastpage :
25
Abstract :
Unmanned aerial vehicles (UAV) can be used to cover large areas searching for targets. However, sensors on UAVs are typically limited in their accuracy of localization of targets on the ground. On the other hand, unmanned ground vehicles (UGV) can be deployed to accurately locate ground targets, but they have the disadvantage of not being able to move rapidly or see through such obstacles as buildings or fences. In this paper, we describe how we can exploit this synergy by creating a seamless network of UAVs and UGVs. The keys to this are our framework and algorithms for search and localization, which are easily scalable to large numbers of UAVs and UGVs and are transparent to the specificity of individual platforms. We describe our experimental testbed, the framework and algorithms, and some results
Keywords :
aerospace robotics; aircraft; cooperative systems; decentralised control; mobile robots; remotely operated vehicles; sensors; surveillance; telerobotics; air surveillance; cooperative system; decentralized control; ground surveillance; onboard sensors; unmanned aerial vehicles; unmanned ground vehicles; Cameras; Land vehicles; Object detection; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Surveillance; Uncertainty; Unmanned aerial vehicles;
fLanguage :
English
Journal_Title :
Robotics & Automation Magazine, IEEE
Publisher :
ieee
ISSN :
1070-9932
Type :
jour
DOI :
10.1109/MRA.2006.1678135
Filename :
1678135
Link To Document :
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