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

6 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

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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.",

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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

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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

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