Integrated Perception and Tactical Behaviours in an Auto-Organizing Aerial Sensor Network

We conducted real proof-of-concept demonstrations of an auto-organizing sensor network composed of UAVs and ground cameras, for urban surveillance. We adopted a decentralised paradigm with tightly coupled perception and tactical behaviour algorithms. The network would reconfigure when cameras are added or removed so that high priority tasks are always served. Tracked targets could be handed over from one camera to another, to ensure continuous tracking.