Target tracking is an important part of video surveillance from a UAV. Tracking a target in an urban environment can be difficult because of the number of occlusions present in the environment. If multiple UAVs are used to track a target and the target behavior is learned autonomously by the UAV then the task may become easier. This thesis explores the hypothesis that an existing cooperative control algorithm can be enhanced by a language modeling algorithm to improve over time the target tracking performance of one or more ground targets in a dense urban environment. Observations of target behavior are reported to the Sequence Memoizer which uses the observations to create a belief model of future target positions. This belief model is combined with a kinematic belief model and then used in a cooperative auction algorithm for UAV path planning. The results for tracking a single target using the combined belief model outperform other belief models and improve over the duration of the mission. Results from tracking multiple targets indicate that algorithmic enhancements may be needed to find equivalent success. Future target tracking algorithms should involve machine learning to enhance tracking performance.



College and Department

Ira A. Fulton College of Engineering and Technology; Electrical and Computer Engineering



Date Submitted


Document Type





cooperative control, target tracking, enhanced, Sequence Memoizer, surveillance, unmanned aerial vehicle, UAV, machine learning, Bayesian filter, Pitman-Yor process, statistical estimation