Cooperative localization and tracking of multiple targets with the communication-aware unmanned aerial vehicle system

The problem of communication-aware unmanned aerial vehicle(UAV) placement and motion planning for target localization and tracking is investigated. The Fisher information matrix is introduced to model the information obtained from the measurements. The information is shared in the multihop wireless network which provides the communication. And the probability of the successful information transmission is modeled as a function of the signal-to-noise ratio. The models of communication-aware placement and motion planning for target localization and tracking are established for multiple stationary and mobile targets respectively. The simulation results show the effectiveness of the models and the effect of the communication on the UAV group behaviors.