UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets

Mor Sinay; Noa Agmon; Oleg Maksimov; Guy Levy; Moshe Bitan; Sarit Kraus

doi:10.1109/iros.2018.8594273

UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets

Mor Sinay, Noa Agmon, Oleg Maksimov, Guy Levy, Moshe Bitan, Sarit Kraus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper considers a new, complex problem of UAV/UGV collaborative efforts to search and capture attackers under uncertainty. The goal of the defenders (UAV/UGV team) is to stop all attackers as quickly as possible, before they arrive at their selected goal. The uncertainty considered is twofold: the defenders do not know the attackers' location and destination, and there is also uncertainty in the defenders' sensing. We suggest a real-time algorithmic framework for the defenders, combining entropy and stochastic-temporal belief, that aims at optimizing the probability of a quick and successful capture of all of the attackers. We have empirically evaluated the algorithmic framework, and have shown its efficiency and significant performance improvement compared to other solutions.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8505-8512
Number of pages	8
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/iros.2018.8594273
State	Published - 27 Dec 2018
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Access to Document

10.1109/iros.2018.8594273

Cite this

Sinay, M., Agmon, N., Maksimov, O., Levy, G., Bitan, M., & Kraus, S. (2018). UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 8505-8512). Article 8594273 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/iros.2018.8594273

@inproceedings{a7adbb545b2a4acf933fc767163b49d2,

title = "UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets",

abstract = "This paper considers a new, complex problem of UAV/UGV collaborative efforts to search and capture attackers under uncertainty. The goal of the defenders (UAV/UGV team) is to stop all attackers as quickly as possible, before they arrive at their selected goal. The uncertainty considered is twofold: the defenders do not know the attackers' location and destination, and there is also uncertainty in the defenders' sensing. We suggest a real-time algorithmic framework for the defenders, combining entropy and stochastic-temporal belief, that aims at optimizing the probability of a quick and successful capture of all of the attackers. We have empirically evaluated the algorithmic framework, and have shown its efficiency and significant performance improvement compared to other solutions.",

author = "Mor Sinay and Noa Agmon and Oleg Maksimov and Guy Levy and Moshe Bitan and Sarit Kraus",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

year = "2018",

month = dec,

day = "27",

doi = "10.1109/iros.2018.8594273",

language = "אנגלית",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "8505--8512",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",

address = "ארצות הברית",

}

Sinay, M, Agmon, N, Maksimov, O, Levy, G, Bitan, M & Kraus, S 2018, UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594273, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 8505-8512, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 1/10/18. https://doi.org/10.1109/iros.2018.8594273

UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets. / Sinay, Mor; Agmon, Noa; Maksimov, Oleg et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 8505-8512 8594273 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets

AU - Sinay, Mor

AU - Agmon, Noa

AU - Maksimov, Oleg

AU - Levy, Guy

AU - Bitan, Moshe

AU - Kraus, Sarit

PY - 2018/12/27

Y1 - 2018/12/27

N2 - This paper considers a new, complex problem of UAV/UGV collaborative efforts to search and capture attackers under uncertainty. The goal of the defenders (UAV/UGV team) is to stop all attackers as quickly as possible, before they arrive at their selected goal. The uncertainty considered is twofold: the defenders do not know the attackers' location and destination, and there is also uncertainty in the defenders' sensing. We suggest a real-time algorithmic framework for the defenders, combining entropy and stochastic-temporal belief, that aims at optimizing the probability of a quick and successful capture of all of the attackers. We have empirically evaluated the algorithmic framework, and have shown its efficiency and significant performance improvement compared to other solutions.

AB - This paper considers a new, complex problem of UAV/UGV collaborative efforts to search and capture attackers under uncertainty. The goal of the defenders (UAV/UGV team) is to stop all attackers as quickly as possible, before they arrive at their selected goal. The uncertainty considered is twofold: the defenders do not know the attackers' location and destination, and there is also uncertainty in the defenders' sensing. We suggest a real-time algorithmic framework for the defenders, combining entropy and stochastic-temporal belief, that aims at optimizing the probability of a quick and successful capture of all of the attackers. We have empirically evaluated the algorithmic framework, and have shown its efficiency and significant performance improvement compared to other solutions.

UR - http://www.scopus.com/inward/record.url?scp=85062998956&partnerID=8YFLogxK

U2 - 10.1109/iros.2018.8594273

DO - 10.1109/iros.2018.8594273

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:85062998956

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 8505

EP - 8512

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

Y2 - 1 October 2018 through 5 October 2018

ER -

Sinay M, Agmon N, Maksimov O, Levy G, Bitan M, Kraus S. UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 8505-8512. 8594273. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/iros.2018.8594273

UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

Cite this