Results from a field demonstration of autonomous detection, localization, and verification of multiple acoustic events using sparsely deployed unattended ground sensors, unmanned aerial vehicles (UAV) as data mules, and a ground control interface are discussed. A novel algorithm is demonstrated to address the problem of multiple event acoustic source localization in the presence of false and missed detections. We also demonstrate an algorithm to route a UAV equipped with a radio to collect data from sparsely deployed ground sensors that takes advantage of communication range of the aircraft while adhering to kinematic constraints of the UAV. A second UAV was utilized to provide video verification of localized events to a human operator at a ground control station.


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    Title :

    Multiple Event Localization in a Sparse Acoustic Sensor Network Using UAVs as Data Mules


    Contributors:
    J. T. Isaacs (author) / S. Venkateswaran (author) / J. Hespanha (author) / U. Madhow (author) / J. Burman (author)

    Publication date :

    2012


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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