arXiv subjects

Ryan W. Thomas

Publications and source records attributed to Ryan W. Thomas.

3 recordsLinked to original sources

arXiv2021

Autonomous Situational Awareness for Robotic Swarms in High-Risk Environments

This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate changes to the mission situation such as target movement or agent loss, the swarm planning is updated to reflect the new situation and guidance updates are broadcast to the swarm. The primary algorithms featured in this work are A* pathfinding and the Generalized Labeled Multi-Bernoulli multi-object tracking method.

cs.RO↗

arXiv2021

Autonomous Situational Awareness for UAS Swarms

This paper describes a technique for the autonomous mission planning of unmanned aerial system swarms. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate changes to the mission situation such as target movement, the swarm planning is updated to reflect the new situation and guidance updates are broadcast to the swarm. The primary algorithms featured in this work are A* pathfinding and the Generalized Labeled Multi-Bernoulli multi-target tracking method.

cs.RO↗

arXiv2016

Radio Tomography for Roadside Surveillance

Radio tomographic imaging (RTI) has recently been proposed for tracking object location via radio waves without requiring the objects to transmit or receive radio signals. The position is extracted by inferring which voxels are obstructing a subset of radio links in a dense wireless sensor network. This paper proposes a variety of modeling and algorithmic improvements to RTI for the scenario of roadside surveillance. These include the use of a more physically motivated weight matrix, a method for mitigating negative (aphysical) data due to noisy observations, and a method for combining frames of a moving vehicle into a single image. The proposed approaches are used to show improvement in both imaging (useful for human-in-the-loop target recognition) and automatic target recognition in a measured data set.

cs.NI↗