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Geolocation with three or more unmanned aerial vehicles (UAVs) based on time-difference-of-arrivals (TDOA) is possible but has implementation problems including UAV trajectory optimization, measurement association, and communication bandwidth limitations. The complexity of each of these problems is manageable with a simpler system of two netted UAVs that processes multiple TDOA measurements collected...
A cooperative team's performance strongly depends on the view that the team has of the environment in which it operates. In a team with many autonomous vehicles and many sensors, there is a large volume of information available from which to create that view. However, typically communication bandwidth limitations prevent all sensor readings being shared with all other team members. This paper presents...
This paper considers the recursive estimation of emitter location using time difference of arrival measurements formed by the correlation of signals received by two unmanned aerial vehicles. The time difference of arrival measurement defines an hyperbola of possible emitter locations. This hyperbola is used as a measurement in a nonlinear Alter. The performance of two such filters, an extended Kalman...
This paper presents a decentralized approach to path planning for large numbers of autonomous vehicles in sparse environments. Unlike existing approaches, which are either computationally expensive or communication intensive, the presented approach allows large numbers of vehicles to plan independently with low communication overhead. The key to the algorithm is to observe that, in sparse environments,...
This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion...
This paper addresses the problem of designing objective functions for autonomous surveillance-target search & tracking (S&T) - by unmanned aerial vehicles (UAVs). A typical S&T mission inherently includes multiple, most often conflicting, objectives such as detection, survival, and tracking. A common approach to cope with this issue is to optimize a convex combination (weighted sum) of...
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