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 s_i, to s_i+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

Publications

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.

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