Active Target Tracking and Cooperative Localization for Teams of Aerial Vehicles

  title={Active Target Tracking and Cooperative Localization for Teams of Aerial Vehicles},
  author={Fabio Morbidi and Gian Luca Mariottini},
  journal={IEEE Transactions on Control Systems Technology},
This paper studies the active target-tracking problem for a team of unmanned aerial vehicles equipped with 3-D range-finding sensors. We propose a gradient-based control strategy that encompasses the three major optimum experimental design criteria, and we use the Kalman filter for estimating the target's position both in a cooperative and in a noncooperative scenario. Our control strategy is active because it moves the vehicles along paths that minimize the uncertainty about the location of… CONTINUE READING
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