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This paper describes the tracking guidance for the autonomous UAV landing and the vision-based detection of the marker on the moving vehicle with the real-time image processing system. The detection of the marker is based on the color detection algorithm with morphological filter and the tracking guidance is based on the relative distance between the UAV and the vehicle. In order to track and land...
This article presents an image-based visual servoing system for indoor visual tracking of 3D moving objects by an Unmanned Aerial Vehicle. This system autonomously follows a 3D moving target object, maintaining it with a fixed distance and centered on its image plane. The initial setup is tested in a detailed simulation environment. The system is then validated on flights in indoor scenarios using...
A cooperative track-before-detect algorithm for multiple ground targets is presented for fixed-wing Unmanned Air Vehicles (UAVs) with a finite field of view. The road network forms a graph whose nodes indicate the target likelihood ratio. Target observations are assimilated by a Bayesian likelihood ratio tracker in which likelihood diffuses according to the graph Laplacian of the road network. Using...
In this paper, we present two novel guidance laws for an unmanned aerial vehicle (UAV) equipped with a fixed camera to track a mobile ground target. The system dynamics is established in the level local coordinate frame, removing the need of converting the target location information to the global inertial frame. The first guidance law is developed using backstepping technique requiring the estimation...
A decentralized controller for target tracking and obstacle avoidance for a multi-agent system is proposed. The controller is based on a navigation function which is composed of a goal function, as the D-optimality criterion of the Fisher information matrix, and a constraint function, which generates repulsive force to the agents near the obstacle. The multi-agent system is modeled as a graph and...
In this paper, we present a novel mobile target tracking filter that incorporates delayed measurements captured by a video camera onboard a flying platform, such as Unmanned Aerial Vehicles (UAVs). A curve-fitting-based technique is developed to characterize the system state information in the past. The coefficients are obtained and updated using an Extended Kalman Filter (EKF) based technique, which...
This paper describes a vision-based multiple model adaptive estimation using UAVs that enables the tracking of a mobile target that changes the system model depending on unknown factors. In our system the machine-learning-based target identification method uses Haar-like classifiers that detects the target position. The system uses multiple extended Kalman filters for each system model and estimates...
A method for cooperative estimation is proposed for use in multi-vehicle unmanned air systems with vision-based target tracking capabilities. The method first seeks to estimate the relative rotational and translational biases that exist between tracks from different vehicles. It then accounts for the biases and performs the track-to-track association, which determines if the tracks originate from...
In this paper, we present an algorithm called Learning-based Preferential Surveillance Algorithm (LPSA), which is specific to the problem of persistent surveillance by unmanned aerial vehicles. The novelty of the algorithm lies in providing the capability to a UAV to increase the probability of target detection through learning. The algorithm considers the neighborhood of a localized target as potential...
A dynamic and decentralized assignment algorithm based on one-to-one coordination is proposed to solve the multi-target allocation problem under communication constraints. The objective is to assign the intruders dynamically among the available aerial robots in order to keep as many intruders as possible under tracking. When an aerial robot is not tracking a target, it is patrolling the area in order...
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