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.

• Record URL:
  http://dx.doi.org/10.1109/TVT.2021.3065102
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
• Supplemental Notes:
  • Copyright © 2021, IEEE.
• Authors:
  • Huang, Hailong
  • 0000-0003-2667-6423
  • Savkin, Andrey V
  • 0000-0001-9390-6634
• Publication Date: 2021-4

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 3891-3896
• Serial:
  • IEEE Transactions on Vehicular Technology
  • Volume: 70
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 0018-9545
  • Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25

Subject/Index Terms

• TRT Terms: Building; Cameras; Drones; Law enforcement; Monitoring; Navigation; Pedestrians; Traffic surveillance; Trajectory
• Subject Areas: Aviation; Highways; Pedestrians and Bicyclists;

Filing Info

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