Adaptive Exploration of a UAVs Swarm for Distributed Targets Detection and Tracking

Mario Cimino, Massimiliano Lega, Manilo Monaco, Gigliola Vaglini

Abstract

This paper focuses on the problem of coordinating multiple UAVs for distributed targets detection and tracking, in different technological and environmental settings. The proposed approach is founded on the concept of swarm behavior in multi-agent systems, i.e., a self-formed and self-coordinated team of UAVs which adapts itself to mission-specific environmental layouts. The swarm formation and coordination are inspired by biological mechanisms of flocking and stigmergy, respectively. These mechanisms, suitably combined, make it possible to strike the right balance between global search (exploration) and local search (exploitation) in the environment. The swarm adaptation is based on an evolutionary algorithm with the objective of maximizing the number of tracked targets during a mission or minimizing the time for target discovery. A simulation testbed has been developed and publicly released, on the basis of commercially available UAVs technology and real-world scenarios. Experimental results show that the proposed approach extends and sensibly outperforms a similar approach in the literature.

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Paper Citation


in Harvard Style

Cimino M., Lega M., Monaco M. and Vaglini G. (2019). Adaptive Exploration of a UAVs Swarm for Distributed Targets Detection and Tracking.In Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-351-3, pages 837-844. DOI: 10.5220/0007581708370844


in Bibtex Style

@conference{icpram19,
author={Mario Cimino and Massimiliano Lega and Manilo Monaco and Gigliola Vaglini},
title={Adaptive Exploration of a UAVs Swarm for Distributed Targets Detection and Tracking},
booktitle={Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2019},
pages={837-844},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007581708370844},
isbn={978-989-758-351-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Adaptive Exploration of a UAVs Swarm for Distributed Targets Detection and Tracking
SN - 978-989-758-351-3
AU - Cimino M.
AU - Lega M.
AU - Monaco M.
AU - Vaglini G.
PY - 2019
SP - 837
EP - 844
DO - 10.5220/0007581708370844