Date: 29 May 2012
Time: 2pm - 4pm
Venue: NMES Center, Faculty of Engneering , MMU Cyberjaya
Title: Dynamic UAV Path Planning for Multi-target Tracking
Abstract:
We describe a path-planning method to guide unmanned aerial vehicles (UAVs) for tracking multiple ground targets based on the theory of partially observable Markov decision processes (POMDPs). We demonstrate the power and flexibility of the POMDP framework by showing that a variety of features of interest are easy to incorporate into the framework by plugging in the appropriate models. Specifically, in this talk we show how to incorporate the following features by appropriately formulating the POMDP action space, transition law, and objective function: 1) control UAVs with both forward acceleration and bank angle subject to constraints; 2) account for the effect of wind disturbance on UAVs; 3) avoid collisions between UAVs and obstacles; and 4) mitigate track swaps.
Speaker: Professor Edwin K. P. Chong
Biography:
Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the
University of Adelaide, South Australia, in 1987; and the M.A. and
Ph.D. degrees in 1989 and 1991, respectively, both from Princeton
University, where he held an IBM Fellowship. He joined the School of
Electrical and Computer Engineering at Purdue University in 1991,
where he was named a University Faculty Scholar in 1999. Since
August 2001, he has been a Professor of Electrical and Computer
Engineering and a Professor of Mathematics at Colorado State
University. His current interests are in stochastic models and
optimization methods.
He coauthored the recent best-selling book, An Introduction to Optimization, 3rd Edition,
Wiley-Interscience, 2008. He is an inaugural Senior Editor of the IEEE Transactions on
Automatic Control, and is also on the editorial boards of Computer Networks and the Journal of
Control Science and Engineering.
Professor Chong is a Fellow of the IEEE, and served as an IEEE Control Systems Society
Distinguished Lecturer. He received the NSF CAREER Award in 1995 and the ASEE Frederick
Emmons Terman Award in 1998. He was a co-recipient of the 2004 Best Paper Award for a
paper in the journal Computer Networks. In 2010 he received the IEEE Distinguished Member
Award from the Control System Society.
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