In this paper, we study the problem of power efficient tracking interval management for distributed target tracking wireless sensor networks (WSNs). We first analyze the performance of a distributed target tracking network with one moving object, using a quantitative mathematical analysis. We show that previously proposed algorithms are efficient only for constant average velocity objects howev...

The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...

The particle filter (PF) is a novel technique that has sufficiently good estimation results for the nonlinear/non-Gaussian systems. However, PF is inconsistent that caused mainly by loss of particle diversity in resampling step and unknown a priori knowledge of the noise statistics. This paper introduces a new modified particle filter called adaptive unscented particle filter (AUPF) to overcome th...

We proposed two approaches to tracking moving target with bearing-only measurement through incorporating observer trajectory optimization into passive tracking systems. The two optimizers algorithm are designed separately, and they are independent of any state estimators, which make them possible to be combined with any state estimators to achieve high accuracy maneuvering/non-maneuvering targe...

We present our most recent efforts in applying XCS to automatic target recognition (ATR). We place particular emphasis on ATR as a series of linked problems, which include pre-processing of multi-spectral data, detection of objects (in this case, vehicles) in that data, and identification (classification) of those objects. Multi-spectral data contains visual imagery, and additional imagery from...