Finding and tracking targets in the wild: Algorithms and field deployments

• Published in: SSRR 2015 : 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics : Purdue University, West Lafayette, Indiana, USA, October 18-20, 2015 pp. 1 - 8
• Main Authors: Isler, Volkan, Noori, Narges, Plonski, Patrick, Renzaglia, Alessandro, Tokekar, Pratap, Vander Hook, Josh
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2015
• Subjects: Boats; Lakes; Monitoring; Robot sensing systems; Search problems
• DOI: 10.1109/SSRR.2015.7442996

We describe our efforts on building a robotic system for detecting and tracking radio-tagged invasive fish using teams of autonomous ground and surface vehicles. In addition to system building and field experiments, our efforts clustered around three fundamental problems: (1) Search: how to find the target as quickly as possible, (2) Active localization: how to actively choose measurement locations to accurately estimate target locations, and (3) Long-term autonomy through energy-efficiency and harvesting. We present specific problem formulations and a summary of our results so far. We conclude the paper with a discussion on our progress and next steps.