2013 Systems and Control Seminar

2013 Systems and Control Seminar

1st System Control Seminar 2013


Date May 8, 2013 10:45〜11:20
Place Tokyo Institute of Thechnology O-okayama W8 E-1001

Speaker Prof. Edwin K. P. Chong
Dept. of Electrical & Computer Engineering Colorado State University
Title "Guidance of Autonomous Aerial Vehicles via POMOP"
Abstract


We consider the problem of planning the motion of unmanned aerial vehicles (UAVs) with on-board sensors, with the goal of tracking ground targets. We apply the theory of partially observable Markov decision processes (POMDPs) to this problem. While POMDPs are intractable to optimize exactly, principled approximation methods can be devised based on Bellman's principle. We show how application-specific approximations produces a practical design that coordinates the UAVs to achieve good long-term mean-squared-error tracking performance in the presence of occlusions and dynamic constraints.