A DDDAMS-based planning and control framework for surveillance and crowd control via UAVs and UGVs

作者：

Highlights：

• An effective and efficient control framework for UAV/UGV coordination is proposed.

• Agent-based simulation is used for planning as well as real-time control purposes.

• Filtering is used for UGV and UAV for tracking individuals and crowd, respectively.

• Motions of UAV/UGV are determined based on minimal distance and energy consumption.

• The framework is demonstrated for a hardware-in-the-loop simulation environment.

摘要

•An effective and efficient control framework for UAV/UGV coordination is proposed.•Agent-based simulation is used for planning as well as real-time control purposes.•Filtering is used for UGV and UAV for tracking individuals and crowd, respectively.•Motions of UAV/UGV are determined based on minimal distance and energy consumption.•The framework is demonstrated for a hardware-in-the-loop simulation environment.

论文关键词：DDDAMS,UAV,UGV,Fidelity,Agent-based simulation,Surveillance

论文评审过程：Available online 18 July 2013.

论文官网地址：https://doi.org/10.1016/j.eswa.2013.07.039