Habitat Monitoring

Online Target Localization with Bounded Bearing Measurements

Consider a collared animal to be localized. The goal is to minimize the time spent in localizing the target in such a way that the localization uncertainty is below a desired level. In the figure, the UAV is moving from si, to si+1 to take the next bearing measurement. The localization is done by intersecting the bearing measurements. The uncertainty is a function of the measurement locations relative to the (unknown) target location.

We present

  • an online algorithm to locate a target using bounded bearing measurements along with a cost analysis of the algorithm,
  • implementation of the algorithm on a quadrotor to localize a VHF collar, along with the validation of the implementation in field experiments.
icra2018 video submission-37MB.mp4

Video content

  • Sensing model
  • Uncertainty measure
  • Algorithm overview along with an annotated simulation
  • Field Experiments
    • System overview (Yagi antenna, VHF collar, UAV)
    • how to take bearing measurements
    • Footage with annotations from the field


  • H. Bayram, N. Stefas, V. Isler, “Aerial Radio-based Telemetry for Tracking Wildlife“, IEEE International Conference on Robotics and Automation (ICRA), Australia, 2018 (submitted).
  • H. Bayram, N. Stefas, K.S. Engin, V. Isler, “Tracking Wildlife with Multiple UAVs: System Design, Safety and Field Experiments“, IEEE International Symposium on Multi-robot and Multi-agent Systems (MRS), Los Angeles, USA, 2017 (to appear).
  • H. Bayram, K. Doddapaneni, N. Stefas,, V. Isler, “Active Localization of VHF Collared Animals with Aerial Robots“, IEEE International Conference on Automation Science and Engineering (CASE), Texas, USA, pp. 934-939, 2016.