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Cooperative Air and Ground Surveillance
Departmental Papers (MEAM)
  • Ben Grocholsky, University of Pennsylvania
  • James Keller, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Document Type
Journal Article
Date of this Version
Copyright 2006 IEEE. Reprinted from IEEE Robotics and Automation Magazine, Volume 13, Issue 3, September 2006, pages 16-25.

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Unmanned aerial vehicles (UAVs) can be used to cover large areas searching for targets. However, sensors on UAVs are typically limited in their accuracy of localization of targets on the ground. On the other hand, unmanned ground vehicles (UGVs) can be deployed to accurately locate ground targets, but they have the disadvantage of not being able to move rapidly or see through such obstacles as buildings or fences. In this article, we describe how we can exploit this synergy by creating a seamless network of UAVs and UGVs. The keys to this are our framework and algorithms for search and localization, which are easily scalable to large numbers of UAVs and UGVs and are transparent to the specificity of individual platforms. We describe our experimental testbed, the framework and algorithms, and some results.
Citation Information
Ben Grocholsky, James Keller, R. Vijay Kumar and George J Pappas. "Cooperative Air and Ground Surveillance" (2006)
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