Coordination of Multiple UAS for tracking under uncertainties.

J. Capitán, L. Merino and A. Ollero. Coordination of Multiple UAS for tracking under uncertainties. Proceedings of the Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS, 2011). Seville, November 30 and December 1, 2011.

Abstract: 
This paper presents how Pariially Observable Markov Decision Processes (POMDPs) can be used for controlling fleets of VAS under uncertainty l. POMDPs provide a soundmathematical framework to deal with planning actions when tasks outcomes and perception are uncertain, although their computational complexity have precluded their use for multi-robot applications. However, in this work a scalable approach based Oil POMDPs is presented. Instead of solving a complex model for the whole team, distributed models in which the VAS have no knowledge about others' actions are considered. Then, a decentralized data fusion algorithm is used to share information from all the sensors and obtain an implicit coordination between the VAS. Moreover, the proposed approach is applied to a tracking application with a fleet of VAS, and some simulations are presented to show its advantages and how the mentioned coordination arises between the members of the team.
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