An information-based approach to decentralized multiplatform sensor management

Abstract

This paper describes a decentralized low communication approach to multi-platform sensor management. The method is based on a physicomimetic relaxation to a joint information theoretic optimization, which inherits the benefits of information theoretic scheduling while maintaining tractability. The method uses only limited message passing, only neighboring nodes communicate, and each node makes its own sensor management decisions.We show by simulation that the method allows a network of sensor nodes to automatically self organize and perform a global task. In the model problem, a group of unmanned aerial vehicles (UAVs) hover above a ground surveillance region. An initially unknown number of moving ground targets inhabit the region. Each UAV is capable of making noisy measurements of the patch of ground directly below, which provide evidence as to the presence or absence of targets in that sub-region. The goal of the network is to determine the number of targets and their individual states (positions and velocities) in the entire surveillance region through repeated interrogation by the individual nodes. As the individual nodes can only see a small portion of the ground, they must move in a manner that is both responsive to measurements and coordinated with other nodes.

An Information-Based Approach to Sensor Management in Large Dynamic Networks

“…Additionally, it is ultimately desired to employ the technique in a decentralized low-communication environment so the technique should lend itself to this setting. Some of this material has appeared in previous conference papers [45], [46]. As mentioned earlier, others have approached this problem from a similar viewpoint, e.g., [18], [47].…”

Multiplatform information-based sensor management: an inverted UAV demonstration

“…The method, which is based on a novel combination of particle filtering for predictive density estimation and information theory for action selection, has been illustrated by simulation in a number of realistic model problems. 1,2 In this paper, we focus on a laboratory demonstration of the system, and describe the components needed to produce such a demonstration system and the engineering trades involved.…”

“…In previous work, 2 we have focused on a model problem consisting of a collection of mobile unmanned aerial vehicles (UAVs) that interrogate a surveillance region looking for moving ground targets. Each platform is equipped with a down-looking sensor that measures the small portion of the surveillance region immediately below.…”