Stochastic Optimal Coordination of Small UAVs for Target Tracking using Regression-based Dynamic Programming

@article{Quintero2016StochasticOC,
  title={Stochastic Optimal Coordination of Small UAVs for Target Tracking using Regression-based Dynamic Programming},
  author={Steven A. P. Quintero and Michael Ludkovski and Jo{\~a}o Pedro Hespanha},
  journal={Journal of Intelligent and Robotic Systems},
  year={2016},
  volume={82},
  pages={135-162}
}
We study the problem of optimally coordinating multiple fixed-wing UAVs to perform vision-based target tracking, which entails that the UAVs are tasked with gathering the best joint vision-based measurements of an unpredictable ground target. We utilize an analytic expression for the error covariance associated with the fused measurements of the target’s position, and we employ stochastic fourth-order models for all vehicles, thereby incorporating a high degree of realism into the problem… CONTINUE READING
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