Navigating UAVs for Optimal Monitoring of Groups of Moving Pedestrians or Vehicles

This paper focuses on navigating a team of unmanned aerial vehicles (UAVs) equipped with cameras to monitor groups of ground pedestrians or vehicles that move along given paths with unknown, time-varying but bounded speeds. The objective is to deliver a high-quality surveillance of the pedestrians or vehicles. The authors formulate a surveillance problem which requires the UAVs to monitor the pedestrians or vehicles from as short as possible distances. The authors propose a navigation algorithm that enables each UAV to determine its movement locally with a minor participation of a central station. The authors prove that this algorithm is locally optimal. Simulations confirm its performance.


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  • Accession Number: 01772726
  • Record Type: Publication
  • Files: TRIS
  • Created Date: May 25 2021 4:21PM