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https://hdl.handle.net/2440/104246
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dc.contributor.author | Cheung, B. | - |
dc.contributor.author | Davey, S. | - |
dc.contributor.author | Gray, D. | - |
dc.date.issued | 2015 | - |
dc.identifier.citation | IET Radar, Sonar and Navigation , 2015; 9(3):255-265 | - |
dc.identifier.issn | 1751-8784 | - |
dc.identifier.issn | 1751-8792 | - |
dc.identifier.uri | http://hdl.handle.net/2440/104246 | - |
dc.description.abstract | This study considers the problem of automatically coordinating multiple platforms to explore an unknown environment. The goal is a planning algorithm that provides a path for each platform in such a way that the collection of platforms cooperatively sense the environment in a globally efficient manner. The environment is described by a spatially non-homogeneous priority function. The method samples this function to produce a discrete collection of locales that the platforms use as waypoints. The key feature of the method is to treat the assignment of locales to platforms as a target tracking problem and to use the probabilistic multi-hypothesis tracker (PMHT) as a method of performing multi-platform batch data association. This paper introduces the PMHT path planner (PMHT-pp) and compares this algorithm as a method of performing multiple platform batch data association with the Genetic Algorithm to solve the modified multi-travelling salesman problem. | - |
dc.description.statementofresponsibility | Brian Cheung, Samuel Davey, Douglas Gray | - |
dc.language.iso | en | - |
dc.publisher | Institution of Engineering and Technology | - |
dc.rights | © Commonwealth of Australia 2015 | - |
dc.source.uri | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7054601&filter=AND(p_IS_Number:7054575) | - |
dc.subject | Travelling salesman problems; genetic algorithms; path planning; probability; sensor fusion; target tracking | - |
dc.title | Probabilistic multi-hypothesis tracker for multiple platform path planning | - |
dc.type | Journal article | - |
dc.identifier.doi | 10.1049/iet-rsn.2014.0089 | - |
pubs.publication-status | Published | - |
Appears in Collections: | Aurora harvest 3 Electrical and Electronic Engineering publications |
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