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UAV based target finding and tracking in GPS-denied and cluttered environments
2016
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
In this paper we describe and flight test a novel system architecture for low cost muti-rotor unmanned aerial vehicles (UAVs) for searching, tracking and following a ground target. The UAV uses only on-board sensors for localisation within a GPS-denied space with obstacles. This mission is formulated as a Partially Observable Markov Decision Process (POMDP) and uses a modular framework that runs on the Robotic Operating System (ROS). This system computes a policy for executing actions instead
doi:10.1109/iros.2016.7759360
dblp:conf/iros/VanegasCEG16
fatcat:wzarjsngwrhihfqwwxbd2npgou