have broken the problem down into three steps.Recent military and civil actions worldwide have highlighted the potential utilityfor unmanned aerial veIn the first step, the incoming video is processed hicles (UAVs). Bothfixed wind and rotary aircraft have using a particle filter to determine the location of the contributed significantly to the success ofseveral militarget. The particle filter is a sample-based approach tary and surveillance operations. Future combat operto Bayesian state estimation that is able to approximate ations will continue to place unmanned aircraft in chalnon-Gaussian distribution that evolve according to nonlenging conditions such as the urban warfare environlinear dynamics. The following section describes the ment, where surveillance is particularly challenging. particle filter framework and discusses methods of dealThese challenges as well as the reduced autonomy, and ing with the algorithms large computational load. operator workload requirements of current unmanned vehicles present a roadblock to their success. It is anticAfter the article filter estimates the osition of the ipated thatfuture operations will require multiple UAVs p p prfomn in a coprtv moe shrin reore target, a reasoning layer provides situational awareness and complemen t cother ati mo ground a esouaccu to deal with occlusions or other target tracking shortandl complementing oth?er air or groundl assets to accucoig.Ti.ae se rt aneac syte to rately calculate a target's position. This paper reviews comings.Thitlaerssesa truth maintenance system to the current status of UAV target tracking technologies determine a set of scenarios that may have resulted in with mphass onrecen devlopmets amed a UAV a degradation of the target tracking algorithm. The syswithemproved a onomycand discussesnfuturedirecs a nde t A tem will then use these scenarios to develop an effective tpehnol onogicalychallengedischussutueaddressedns ind t strategy to remedy the situation. The truth maintenance immedhnologicat future. ges that must be addressed inthe system is introduced following the particle filter trackimmediatefuture. igagrtm ing algorithm.
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