Estimating the State of an Intruder with a UAV and Unattended Ground Sensors
David W. Casbeer, Kevin C. Meier, Yongcan Cao · 2013
An Bayesian histogram filter to estimate the location of an intruder on a road network is described. The road network is lined with unmanned ground sensors (UGS) that detect the presence or non-presence of an intruder. UAVs decide which UGS to visit in order to gather observations of the intruder from the UGS; these observations are used by the UAV to determine the location of the intruder. Future plans include integrating the histogram filter and the UAV’s controller so that decisions on which UGS to visit are based on the most likely location of the intruder. Further testing is planned to determine how visualization of the estimator can help a human operator in planning for the UAVs when automation is not available.