UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets*This research was supported in part by ISF grant #1337/15 and part by a grant from MOST, Israel and the JST Japan

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

IROS 20186 citations

UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets*This research was supported in part by ISF grant #1337/15 and part by a grant from MOST, Israel and the JST Japan

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

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.

BibTeX

@inproceedings{iros2018_uavugvsearchandc,
  title = {UAV/UGV Search and Capture of Goal-Oriented Uncertain Targets*This research was supported in part by ISF grant #1337/15 and part by a grant from MOST, Israel and the JST Japan},
  author = {Mor Sinay and Noa Agmon and Oleg Maksimov and Guy Levy and Moshe Bitan and Sarit Kraus},
  booktitle = {IROS 2018},
  year = {2018}
}