Control of unmanned aerial vehicles performing multiple target passive detection and tracking
Peter W. Sarunic, Robin J. Evans · 2009
Advances in a previously proposed algorithm for trajectory optimization of autonomous aerial vehicles performing multiple target tracking are presented. The algorithm involves a variant of the moving horizon control approach, built on a partially observed Markov decision process (POMDP) model of the sensor-target system. To evaluate the effectiveness of the advances a simulation involving multiple UAVs and targets is performed.