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      Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

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          Abstract

          This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles' paths nominally. The algorithm uses detections from the sensors to predict intruders' locations and selects the vehicles' paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm's completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios.

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          Most cited references 52

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          A short note about pursuit games played on a graph with a given genus

           A Quilliot (1985)
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            Today's Traveling Salesman Problem

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              Path Planning and State Estimation for Unmanned Aerial Vehicles in Hostile Environments

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                Author and article information

                Affiliations
                Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48105, USA; E-Mails: daninman@ 123456umich.edu (P.K.); anouck@ 123456umich.edu (A.G.)
                Author notes

                Academic Editor: Felipe Gonzalez Toro

                [* ] Author to whom correspondence should be addressed; E-Mail: jfargeas@ 123456umich.edu ; Tel.: +1-734-763-1305; Fax: +1-734-763-0578.
                Journal
                Sensors (Basel)
                Sensors (Basel)
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                January 2015
                13 January 2015
                : 15
                : 1
                : 1365-1388
                25591168 4327082 10.3390/s150101365 sensors-15-01365
                © 2015 by the authors; licensee MDPI, Basel, Switzerland.

                This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( http://creativecommons.org/licenses/by/4.0/).

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