Data fusion and tracking with multiple UAVs

Ridley, Matthew F., Upcroft, Ben, & Sukkarieh, Salah (2014) Data fusion and tracking with multiple UAVs. In Valavanis, Kimon P. & Vachtsevanos, George J. (Eds.) Handbook of Unmanned Aerial Vehicles. Springer, pp. 461-490.

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Abstract

This chapter describes decentralized data fusion algorithms for a team of multiple autonomous platforms. Decentralized data fusion (DDF) provides a useful basis with which to build upon for cooperative information gathering tasks for robotic teams operating in outdoor environments. Through the DDF algorithms, each platform can maintain a consistent global solution from which decisions may then be made. Comparisons will be made between the implementation of DDF using two probabilistic representations. The first, Gaussian estimates and the second Gaussian mixtures are compared using a common data set. The overall system design is detailed, providing insight into the overall complexity of implementing a robust DDF system for use in information gathering tasks in outdoor UAV applications.

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ID Code: 76160
Item Type: Book Chapter
ISBN: 9789048197064
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Image Processing (080106)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Deposited On: 15 Sep 2014 23:21
Last Modified: 11 Nov 2015 15:14

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