Coordinated CRLB-based Control for Tracking Multiple First Responders in 3D Environments

Savvas Papaioannou, Sungjin Kim, Christos Laoudias, Panayiotis Kolios, Sunwoo Kim, Theocharis Theocharides, Christos Panayiotou, Marios Polycarpou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper we study the problem of tracking a team of first responders with a fleet of autonomous mobile flying agents, operating in 3D environments. We assume that the first responders exhibit stochastic dynamics and evolve inside challenging environments with obstacles and occlusions. As a result, the mobile agents probabilistically receive noisy line-of-sight (LoS), as well as non-line-of-sight (NLoS) range measurements from the first responders. In this work, we propose a novel estimation (i.e., estimating the position of multiple first responders over time) and control (i.e., controlling the movement of the agents) framework based on the Cramér-Rao lower bound (CRLB). More specifically, we analytically derive the CRLB of the measurement likelihood function which we use as a control criterion to select the optimal joint control actions over all agents, thus achieving optimized tracking performance. The effectiveness of the proposed multi-agent multi-target estimation and control framework is demonstrated through an extensive simulation analysis.

Original languageEnglish
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1475-1484
Number of pages10
ISBN (Electronic)9781728142777
DOIs
StatePublished - 2020 Sep
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: 2020 Sep 12020 Sep 4

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
CountryGreece
CityAthens
Period20/09/120/09/4

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