Tracking wildlife with multiple UAVs: System design, safety and field experiments

Haluk Bayram; Nikolaos Stefas; Kazim Selim Engin; Volkan Isler

doi:10.1109/MRS.2017.8250937

Tracking wildlife with multiple UAVs: System design, safety and field experiments

Haluk Bayram, Nikolaos Stefas, Kazim Selim Engin, Volkan Isler

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Scopus citations

Abstract

We present a multi-UAV system capable of localizing radio tagged animals. Each UAV carries a Yagi antenna and is capable of obtaining bearing-measurements by using the directionality of the signal emitted from the tag. In this paper, we address the following question: given a set of measurement locations, should the UAVs move in coordination and obtain synchronized measurements, or should they move independently? For each scenario, we present a path planning algorithm. The algorithms are compared in simulations. We also present a complete system implementation with three UAVs and results from field experiments.

Original language	English (US)
Title of host publication	2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	97-103
Number of pages	7
ISBN (Electronic)	9781509063093
DOIs	https://doi.org/10.1109/MRS.2017.8250937
State	Published - Jan 8 2018
Event	2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 - CA, United States Duration: Dec 4 2017 → Dec 5 2017

Publication series

Name	2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017
Volume	2018-January

Other

Other	2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017
Country/Territory	United States
City	CA
Period	12/4/17 → 12/5/17

Bibliographical note

Funding Information:
The authors are with the Department of Computer Science & Engineering, University of Minnesota, Minneapolis, USA. {hbayram, stefa125, engin003, isler}@umn.edu. This work is supported in part by a Minnesota State LCCMR grant and NSF grants #1111638, #1525045 and #1617718.

Publisher Copyright:
© 2017 IEEE.

Publisher link

10.1109/MRS.2017.8250937

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Bayram, H., Stefas, N., Engin, K. S., & Isler, V. (2018). Tracking wildlife with multiple UAVs: System design, safety and field experiments. In 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017 (pp. 97-103). (2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MRS.2017.8250937

Tracking wildlife with multiple UAVs : System design, safety and field experiments. / Bayram, Haluk; Stefas, Nikolaos; Engin, Kazim Selim et al.

2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 97-103 (2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bayram, H, Stefas, N, Engin, KS & Isler, V 2018, Tracking wildlife with multiple UAVs: System design, safety and field experiments. in 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017. 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 97-103, 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017, CA, United States, 12/4/17. https://doi.org/10.1109/MRS.2017.8250937

Bayram H, Stefas N, Engin KS, Isler V. Tracking wildlife with multiple UAVs: System design, safety and field experiments. In 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017. Institute of Electrical and Electronics Engineers Inc. 2018. p. 97-103. (2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017). https://doi.org/10.1109/MRS.2017.8250937

Bayram, Haluk ; Stefas, Nikolaos ; Engin, Kazim Selim et al. / Tracking wildlife with multiple UAVs : System design, safety and field experiments. 2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 97-103 (2017 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2017).

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abstract = "We present a multi-UAV system capable of localizing radio tagged animals. Each UAV carries a Yagi antenna and is capable of obtaining bearing-measurements by using the directionality of the signal emitted from the tag. In this paper, we address the following question: given a set of measurement locations, should the UAVs move in coordination and obtain synchronized measurements, or should they move independently? For each scenario, we present a path planning algorithm. The algorithms are compared in simulations. We also present a complete system implementation with three UAVs and results from field experiments.",

author = "Haluk Bayram and Nikolaos Stefas and Engin, {Kazim Selim} and Volkan Isler",

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Tracking wildlife with multiple UAVs: System design, safety and field experiments

Abstract

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