UAV search &amp;amp; capture of a moving ground target under delayed information

Krishnamoorthy, K.; Casbeer, David W.; Chandler, P.; Pachter, Meir; Darbha, Swaroop

doi:10.1109/cdc.2012.6427011

Cited by 33 publications

(22 citation statements)

References 10 publications

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“…The solution method including delayed observations/partial information is presented in Section III. We follow the analysis with an example problem in Section IV and concluding remarks in Section V. We note that the introduction and analysis sections of the paper closely mirror the respective sections in our prior work [15]. This is understandable, given that the current work extends on the prior work and addresses the same problem.…”

Section: Introductionmentioning

confidence: 67%

“…This is perhaps not apparent from the recursions (15) and (17) established earlier, but it has to do with the dual control nature of the problem. At each time step, the above recursion looks at all possible future observations, and guarantees isolation by hedging against this uncertainty.…”

Section: ) Ifmentioning

confidence: 91%

“…Also the UAV is twice as fast as the evader, who has unit speed. The UGSs are placed at those locations that the UAV can occupy, i.e., P u = {1, 3, 5, 9, 11, 13} ∪ G. Note that the same example was considered in [15], where it was shown that the weaker sufficient condition was satisfied for the initial observation, z(0) = 1 at UGS location 1. We also showed that the condition failed for the case z(0) = 2, even though isolation can be achieved (see Sec V-A in [15] for details).…”

Section: Manhattan Grid Examplementioning

confidence: 99%

“…The U2SC was originally posed in [15], where a weaker sufficient condition for evader isolation was given. In this paper, we provide a tighter sufficiency condition for guaranteed isolation.…”

Section: Introductionmentioning

confidence: 99%

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Moving ground target isolation by a UAV using predicted observations

Casbeer

Krishnamoorthy²,

Chandler

et al. 2014

53rd IEEE Conference on Decision and Control

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Abstract-An interesting variant of the cops and robbers pursuit-evasion problem is presented. The motivation for the problem comes from the need to monitor a network of roads leading to a protected area. In this paper, an unmanned aerial vehicle (UAV) is searching for a slower moving ground vehicle on a road network that has been out-fitted with unattended ground sensors (UGSs). The UGSs are communication constrained and can only relay observations of the ground vehicle when the UAV visits them. Furthermore, the UAV does not have on-board capability to detect and identify the evader and therefore must investigate the UGSs to learn the evader's location. This scenario leads the UAV's control actions to depend on partial information. A sufficient condition for guaranteed isolation of the intruder is provided along with the corresponding pursuit policy. Since the policy is non-unique, we select a policy that provides the least time to capture among all policies with the guarantee.

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Section: Introductionmentioning

confidence: 67%

Section: ) Ifmentioning

confidence: 91%

Section: Manhattan Grid Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Moving ground target isolation by a UAV using predicted observations

Casbeer

Krishnamoorthy²,

Chandler

et al. 2014

53rd IEEE Conference on Decision and Control

Self Cite

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“…The lack of accurate and timely information about the opposing team seriously complicates this problem. In the absence of sensing capabilities by the pursuer, the work in [10] presents an approach where the pursuer is aided by Unattended Ground Sensors (UGS) that provide limited and delayed information about the evader.…”

Section: Introductionmentioning

confidence: 99%

Cooperative aircraft defense from an attacking missile

García

Casbeer

Pham³

et al. 2014

53rd IEEE Conference on Decision and Control

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Abstract-This paper addresses a three-body pursuit-evasion scenario where an Attacker missile using Pure Pursuit guidance pursues a Target aircraft and a Defender missile launched by a wingman aims at intercepting the Attacker before it reaches the aircraft. An optimal control problem is posed which captures the goal of the Target-Defender team, namely, to maximize the separation between Target and Attacker at the instant of capture of the Attacker by the Defender. The optimal control law provides the heading angles for the Target and the Defender team.

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