Estimating future aircraft intentions using short and long term behavior modeling

Morten Bisgaard; Anders la Cour-Harbo

doi:10.3182/20130902-5-DE-2040.00124

Estimating future aircraft intentions using short and long term behavior modeling

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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Abstract

In a scenario where two UAS can benefit from cooperation, but where one of the UAS is non-cooperative and only broadcasting very limited state information, there is a need for the second UAS to estimate the intentions of the first UAS. When the second UAS is capable of this they will be able to solve joint tasks faster even though the cooperation is only "one way". In this work we investigate a method for such an estimation. It is based on a short and a long term prediction of the intentions of the non-cooperative UAS, combined in a Kalman filter to provide a quantitative estimate of the intentions. The method is demonstrated on two helicopters semi-cooperating on covering a number of hot spots in field of crops.

Originalsprog	Engelsk
Titel	19th IFAC Symposium on Automatic Control in Aerospace
Forlag	Pergamon Press
Publikationsdato	2013
Sider	72-77
DOI	https://doi.org/10.3182/20130902-5-DE-2040.00124
Status	Udgivet - 2013

Navn	I F A C Workshop Series
Nummer	1
Vol/bind	19
ISSN	1474-6670

Adgang til dokumentet

10.3182/20130902-5-DE-2040.00124

2013 IFAC ACA behaviourIndsendt manuskript, 468 KB

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

ASETA : Adaptive Surveying and Early treatment of crops with a Team of Autonomous vehicles
la Cour-Harbo, A., Bak, T., Bendtsen, J. D., Bisgaard, M., Wulfson, D. & Griepentrog, H. W.
Det Strategiske Forskningsråd - Nabiit
01/01/2010 → 01/04/2014
Projekter: Projekt › Forskning

Drone Research Lab
Anders la Cour-Harbo (Leder), Simon Jensen (Operatør), Frank Høgh Rasmussen (Andre), Jesper Dejgaard Meyer (Andre), Aitor Ramirez Gomez (Andre), O. M. Bektash (Andre), Tobias Leth (Andre), Luminita Cristiana Totu (Andre), Jacob Naundrup Pedersen (Andre), Stefano Primatesta (Andre), Petr Gabrlik (Andre) & Morten Bisgaard (Operatør)
Institut for Elektroniske Systemer
Facilitet: Testfacilitet

Citationsformater

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author = "Morten Bisgaard and {la Cour-Harbo}, Anders",

year = "2013",

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language = "English",

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Estimating future aircraft intentions using short and long term behavior modeling. / Bisgaard, Morten; la Cour-Harbo, Anders.
19th IFAC Symposium on Automatic Control in Aerospace. Pergamon Press, 2013. s. 72-77 (I F A C Workshop Series; Nr. 1, Bind 19).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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PY - 2013

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AB - In a scenario where two UAS can benefit from cooperation, but where one of the UAS is non-cooperative and only broadcasting very limited state information, there is a need for the second UAS to estimate the intentions of the first UAS. When the second UAS is capable of this they will be able to solve joint tasks faster even though the cooperation is only "one way". In this work we investigate a method for such an estimation. It is based on a short and a long term prediction of the intentions of the non-cooperative UAS, combined in a Kalman filter to provide a quantitative estimate of the intentions. The method is demonstrated on two helicopters semi-cooperating on covering a number of hot spots in field of crops.

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BT - 19th IFAC Symposium on Automatic Control in Aerospace

PB - Pergamon Press

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Estimating future aircraft intentions using short and long term behavior modeling

Abstract

Adgang til dokumentet

AUB Link

Fingeraftryk

Projekter

ASETA : Adaptive Surveying and Early treatment of crops with a Team of Autonomous vehicles

Udstyr

Drone Research Lab

Citationsformater