Publication:
Multi-Target Tracking for Swarm vs. Swarm UAV Systems

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Authors
Soylu, Umit
Subjects
UAV, Unmanned systems, Swarm vs. Swarm systems, Agent-based simulations, Common Operational Picture, K-means clustering, L-method, Polynomial Fit, Munkres algorithm, Augmented Suboptimal Joint Probabilistic Data Association, Kalman Filtering
Advisors
Chung, Timothy H.
Date of Issue
2012-09
Date
Sep-12
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Unmanned systems, including unmanned aerial vehicles (UAVs), are developing technologies that are becoming increasingly important. This thesis provides a model for generating a common operational picture (COP) for unmanned systems that is applicable in todayメs technology, and presents results and analysis based on simulation studies. This thesis specifically investigates a swarm versus swarm unmanned systems scenario in which opposing teams of UAVs approach each other. Different methodologies for generating a COP from the perspective of a given team are investigated, and a simulation is designed to explore the performance of the selected strategies for performing multi-target tracking. The results of the simulation show the performance of the presented approach where targets are assumed in the field of view of the tracking agents, false detections may or may not be present, and all entities maneuver according to nondeterministic motion models.
Type
Thesis
Description
Department
Computer Science
Organization
Identifiers
NPS Report Number
Sponsors
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Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined
in Title 17, United States Code, Section 101. As such, it is in the
public domain, and under the provisions of Title 17, United States
Code, Section 105, is not copyrighted in the U.S.
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