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Multi-target detection and recognition by UAVs using online POMDPs

Ponzoni Carvalho Chanel, Caroline and Teichteil-Königsbuch, Florent and Lesire, Charles Multi-target detection and recognition by UAVs using online POMDPs. (2013) In: 27th AAAI Conference on Artificial Intelligence, 14 July 2013 - 18 July 2013 (Bellevue, Washington, United States).

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Official URL: http://www.aaai.org/Press/Proceedings/aaai13.php


This paper tackles high-level decision-making techniques for robotic missions, which involve both active sensing and symbolic goal reaching, under uncertain probabilistic environments and strong time constraints. Our case study is a POMDP model of an online multi-target detection and recognition mission by an autonomous UAV.The POMDP model of the multi-target detection and recognition problem is generated online from a list of areas of interest, which are automatically extracted at the beginning of the flight from a coarse-grained high altitude observation of the scene. The POMDP observation model relies on a statistical abstraction of an image processing algorithm's output used to detect targets. As the POMDP problem cannot be known and thus optimized before the beginning of the flight, our main contribution is an ``optimize-while-execute'' algorithmic framework: it drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints. We present new results from real outdoor flights and SAIL simulations, which highlight both the benefits of using POMDPs in multi-target detection and recognition missions, and of our`optimize-while-execute'' paradigm.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to AAAI (Association for the Advancement of Artificial Intelligence) (www.aaai.org). The details of the publication are available on the website : http://www.aaai.org/Press/Proceedings/aaai13.php
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 On:14 Oct 2013 10:22

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