DDDAMS-based Urban Surveillance and Crowd Control via UAVs and UGVs
Technical Report,01 May 2012,30 Sep 2015
The University of Arizona Tucson United States
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The main goal of this project was to investigate algorithmic approaches to create scalable, robust, multi-scale, and effective urban surveillance and crowd control strategies using UAVs and UGVs. To achieve the goal, a comprehensive planning and control framework was designed and developed based on dynamic-data-driven, adaptive multi-scale simulation DDDAMS, where dynamic data is incorporated into simulation, simulation steers the measurement process for data update and system control, and an appropriate level of simulation fidelity is selected based on the time constraints for evaluating alternative control policies using simulation. An information-aggregation approach was developed for crowd dynamics modeling by incorporating multi-resolution data, where a grid-based method is used to model crowd motion with UAVs low-resolution global perception, and an autoregressive model is used to model individuals motion based on UGVs detailed perception. Also, a vision-based target detection and localization via a team of cooperative UAV and UGVs was developed. Finally, a testbed was successfully developed, involving hardware UAVs and UGVs, software agent-based simulation, GIS, and human components, and used to demonstrate the proposed framework.