The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms

Yaniv Altshuler, Vladimir Yanovsky, Israel A. Wagner, Alfred M. Bruckstein

Abstract

This work examines the Cooperative Hunters problem, where a swarm of UAVs is used for searching after one or more “smart targets” which are moving in a predefined area, while trying to avoid detection by the swarm. By arranging themselves into an efficient flight configuration, the UAVs optimize their integrated sensing capability, and are thus capable of searching much larger ter- ritories than a group of uncooperative UAVs. The problem was introduced in [1], while similar work appears also in [4–7]. This work presents two decentralized cooperative search algorithms which demonstrate major improvements over the algorithm and analysis presented in [1]. The first algorithm uses improved flying patterns which achieve superior search performance. An analytic optimality proof for the algorithm’s performance is presented. The second algorithm is a fault tolerant algorithm which allows the UAVs to search in areas whose shapes and sizes are unknown in advance (unlike the rectangular shapes only, in [1]). Due to space constraints many technical and experimental details were omitted. Such details will appear in a longer version of this work.

References

  1. Vincent, P., Rubin, I.: “A Framework and Analysis for Cooperative Search Using UAV Swarms”, ACM Simposium on applied computing, (2004).
  2. Wagner, I.A., Bruckstein, A.M.: “Cooperative Cleaners: A Case of Distributed AntRobotics”, in “Communications, Computation, Control, and Signal Processing: A Tribute to Thomas Kailath”, Kluwer Academic Publishers, The Netherlands, pp. 289-308, (1997).
  3. Altshuler, Y., Bruckstein, A.M., Wagner, I.A.: “Swarm Robotics for a Dynamic Cleaning Problem”, in “IEEE Swarm Intelligence Symposium 2005”, pp. 209-216, (2005).
  4. Passino, K., Polycarpou, M., Jacques, D., Pachter, M., Liu, Y., Yang, Y., Flint, M. and Baum, M.: “Cooperative Control for Autonomous Air Vehicles”, In Cooperative Control and Optimization, R. Murphey and P. Pardalos, editors. Kluwer Academic Publishers, Boston, (2002).
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Paper Citation


in Harvard Style

Altshuler Y., Yanovsky V., A. Wagner I. and M. Bruckstein A. (2005). The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 165-170. DOI: 10.5220/0001193001650170


in Bibtex Style

@conference{mars05,
author={Yaniv Altshuler and Vladimir Yanovsky and Israel A. Wagner and Alfred M. Bruckstein},
title={The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={165-170},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001193001650170},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms
SN - 972-8865-34-1
AU - Altshuler Y.
AU - Yanovsky V.
AU - A. Wagner I.
AU - M. Bruckstein A.
PY - 2005
SP - 165
EP - 170
DO - 10.5220/0001193001650170