Orchestrated management of heterogeneous sensors incorporating feedback from intelligence assets
Yugandhar Sarkale, Edwin K. P. Chong · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2015
We develop a method for autonomous management of multiple heterogeneous sensors mounted on unmanned aerial vehicles (UAVs) for multitarget tracking. The main contribution of the paper is incorporation of feedback received from intelligence assets (humans) on priorities assigned to specific targets. We formulate the problem as a partially observable Markov decision processes (POMDP) where information received from assets is captured as a penalty on the cost function. The resulting constrained optimization problem is solved using an augmented Lagrangian method. Information obtained from sensors and assets is fused centrally for guiding the UAVs to track these targets.