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POMDP-based online target detection and recognition for autonomous UAVs

Ponzoni Carvalho Chanel, Caroline and Teichteil-Königsbuch, Florent and Lesire, Charles POMDP-based online target detection and recognition for autonomous UAVs. (2012) In: The 20th European Conference on Artificial Intelligence - ECAI, 27 August 2012 - 31 August 2012 (Montpellier, France).

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Official URL: http://dx.doi.org/10.3233/978-1-61499-098-7-955

Abstract

This paper presents a target detection and recognition mission by an autonomous Unmanned Aerial Vehicule (UAV) modeled as a Partially Observable Markov Decision Process (POMDP). The POMDP model deals in a single framework with both perception actions (controlling the camera's view angle), and mission actions (moving between zones and flight levels, landing) needed to achieve the goal of the mission, i.e. landing in a zone containing a car whose model is recognized as a desired target model with sufficient belief. We explain how we automatically learned the probabilistic observation POMDP model from statistical analysis of the image processing algorithm used on-board the UAV to analyze objects in the scene. We also present our "optimize-while-execute" framework, which drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints, reasoning about the future possible execution states of the robotic system. Finally, we present experimental results, which demonstrate that Artificial Intelligence techniques like POMDP planning can be successfully applied in order to automatically control perception and mission actions hand-in-hand for complex time-constrained UAV missions.

Item Type:Conference or Workshop Item (Paper)
Additional Information:ECAI 2012 20th European Conference on Artificial Intelligence, 27–31 August 2012, Montpellier, France, ISBN : 978-1-61499-097-0, Series Frontiers in artifical intelligence applications, vol. 242. Thanks to IOS Press editor. The definitive version is available at IOS press Ebook website : http://ebooks.iospress.nl/volumearticle/7114
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited By: Caroline Ponzoni Carvalho Chanel
Deposited On:23 Sep 2014 09:20

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