Cooperative Air and Ground Survaillance

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General Robotics, Automation, Sensing and Perception Laboratory
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Mechanical Engineering
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Grocholsky, Ben
Keller, James
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Unmanned aerial vehicles (UAVs) can be used to cover large areas searching for targets. However, sensors on UAVs are typically limited in their accuracy of localization of targets on the ground. On the other hand, unmanned ground vehicles (UGVs) can be deployed to accurately locate ground targets, but they have the disadvantage of not being able to move rapidly or see through such obstacles as buildings or fences. In this article, we describe how we can exploit this synergy by creating a seamless network of UAVs and UGVs. The keys to this are our framework and algorithms for search and localization, which are easily scalable to large numbers of UAVs and UGVs and are transparent to the specificity of individual platforms. We describe our experimental testbed, the framework and algorithms, and some results.

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2006-09-01
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Suggested Citation: Grocholsky, Ben, James Keller, Vijay Kumar and George Pappas. (2006). Cooperative Air and Ground Survaillance. IEEE Robotics & Automation Magazine. Vol. 13(3). p. 16-25. ©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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