Shankarachary Ragi This paper focuses on the development of decentralized collaborative sensing and sensor resource allocation algorithms where the sensors are located on-board autonomous unmanned aerial vehicles. We develop these algorithms in the context of single-target and multi-target tracking applications, where the objective is to maximize the tracking performance as measured by the mean-squared error between the … Read more
In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region … Read more
We develop Monte-Carlo based heuristic approaches to approximate the objective function in long horizon optimal control problems. In these approaches, to approximate the expectation operator in the objective function, we evolve the system state over multiple trajectories into the future while sampling the noise disturbances at each time-step, and find the average (or weighted average) … Read more
In this paper, we develop a decision theoretic approach for radar waveform design to maximize the joint radar communications performance in spectral coexistence. Specifically, we develop an adaptive waveform design approach by posing the design problem as a partially observable Markov decision process (POMDP), which leads to a hard optimization problem. We extend an approximate … Read more
In this paper, we develop a Monte-Carlo based heuristic approach to approximate the objective function in long horizon optimal control problems. In this approach, we evolve the system state over multiple trajectories into the future while sampling the noise disturbances at each time-step, and find the weighted average of the costs along all the trajectories. … Read more
In this paper, we develop a decentralized collaborative sensing algorithm where the sensors are located on-board autonomous unmanned aerial vehicles. We develop this algorithm in the context of a target tracking application, where the objective is to maximize the tracking performance measured by the meansquared error between the target state estimate and the ground truth. … Read more
We develop and present a radar waveform design method that optimizes the spectral shape of the radar waveform so that joint performance of a cooperative radar-communications system is maximized. The continuous water-filling (WF) spectralmask shaping method presented in this paper is based the previously derived spectral-mask shaping technique. However, the method presented in this paper … Read more
We develop and present the novel minimum estimation error variance waveform design method, that optimizes the spectral shape of a unimodular radar waveform such that the performance of a joint radar-communications system that shares spectrum is maximized. We also perform a numerical study to compare the performance of the new technique with the previously derived … Read more
We develop polynomial-time heuristic methods to solve unimodular quadratic programs (UQPs) approximately, which are known to be NP-hard. In the UQP framework, we maximize a quadratic function of a vector of complex variables with unit modulus. Several problems in active sensing and wireless communication applications boil down to UQP. With this motivation, we present three … Read more
We present a mixed-integer nonlinear programming (MINLP) formulation of a UAV path optimization problem in an attempt to find the globally optimum solution. As objective functions in UAV path optimization problems typically tend to be non-convex, traditional optimization solvers (typically local solvers) are prone to local optima, which lead to severely sub-optimal controls. For the … Read more