Multisensor Data Fusion

Project Title: Data Association and Sensor Management Algorithms for Tracking Applications

Investigators: Lucy Y. Pao and Todd D. Murphey

Sponsor: Air Force Research Laboratories

Project Duration: September 2008 - September 2013

Project Title: Data Association Algorithms for Tracking Satellites

Investigator: Lucy Y. Pao

Sponsor: Air Force Office of Scientific Research and Air Force Research Laboratories

Project Duration: March 1, 2007 - November 30, 2007

Project Title: Disaster-Tolerant and Interoperable Communications

Investigators: Mahesh Varanasi, Lucy Y. Pao, Youjian Liu, Timothy X Brown

Sponsor: Department of Education

Project Duration: August 15, 2006 - August 14, 2009

Project Title: Advanced Signal Processing Algorithms for the Space Based Infrared System (SBIRS)

Investigators: George H. Born and Lucy Y. Pao

Sponsor: Lockheed Martin Federal Systems, Inc.

Project Duration: December 1, 2003 - March 31, 2004

Project Title: Sensor Management and Multisensor Fusion Algorithms for Tracking Applications

Investigator: Lucy Y. Pao

Sponsor: Office of Naval Research

Project Duration: October 1, 2001 - September 30, 2005

Project Title: Computationally Efficient Algorithms for Managing Sensor Information that Incorporate Models of Data Association

Investigator: Lucy Y. Pao

Sponsors: Colorado Advanced Software Institute and Data Fusion Corporation

Project Duration: September 1, 1999 - August 31, 2000

Project Title: Young Investigator Award: Distributed Multisensor Fusion Algorithms for Tracking Applications

Investigator: Lucy Y. Pao

Sponsor: Office of Naval Research

Project Duration: June 1, 1997 - May 31, 2000

Project Title: Control of Sensor Information in Distributed Multisensor Systems

Investigator: Lucy Y. Pao

Sponsors: Colorado Advanced Software Institute and Data Fusion Corporation

Project Duration: July 1, 1997 - August 31, 1998

Project Title: Control of Sensor Information in Centralized Multisensor Systems

Investigator: Lucy Y. Pao

Sponsors: Colorado Advanced Software Institute and Data Fusion Corporation

Project Duration: January 1, 1997 - December 31, 1997

Awards:

BS/MS student Anil Damle received the CU-Boulder College of Engineering and Applied Science Outstanding Graduate for Research Award, May 2011.

ONR Young Investigator Award, 1997-2000

Recent Publications:

M. J. Travers, T. D. Murphey, and L. Y. Pao, "Linear Time-Varying Impulse Optimization for Data Association," Proc. American Control Conf., Montreal, Canada, pp. 1047-1052, June 2012.

A. Damle and L. Y. Pao. "Simultaneous Numerical Optimization for Data Association and Parameter Estimation," Proc. Joint IEEE Conf. Decision and Control and European Control Conf., Orlando, FL, pp. 7800-7805, Dec. 2011.

M. J. Travers, T. D. Murphey, and L. Y. Pao. "Impulsive Data Association with an Unknown Number of Targets," Hybrid Systems: Computation and Control, Chicago, IL, pp. 261-270, Apr. 2011.

M. J. Travers, T. D. Murphey, and L. Y. Pao. "Impulse Optimization for Data Association," Proc. IEEE Conf. Decision and Control, Atlanta, GA, pp. 2204-2209, Dec. 2010.

M. J. Travers, T. D. Murphey, and L. Y. Pao. "Stochastic Sampling Based Data Association," Proc. American Control Conf., Baltimore, MD, pp. 1386-1391, June 2010.

M. J. Travers, T. D. Murphey, and L. Y. Pao. "Data Association with Ambiguous Measurements," Proc. American Control Conf., Seattle, WA, pp. 1875-1880, June 2008.

R. M. Powers and L. Y. Pao. "Power and Robustness of a Track-Loss Detector Based on Kolmogorov-Smirnov Tests," Proc. American Control Conf., Minneapolis, MN, pp. 3757-3764, June 2006.

R. M. Powers and L. Y. Pao. " Using Kolmogorov-Smirnov Tests to Detect Track-Loss in the Absence of Truth Data," Proc. IEEE Conf. Decision and Control, Seville, Spain, pp. 3097-3104, Dec. 2005.

L. Trailovic and L. Y. Pao. "Variance Estimation and Ranking of Target Tracking Position Errors Modeled Using Gaussian Mixture Distributions," Automatica, 41(8): 1433-1438, Aug. 2005.

V. Kulkarni and L. Y. Pao. "A Sensor Management Protocol for Tracking with Diverse Sensors," Proc. American Control Conf., Portland, OR, pp. 5015-5020, June 2005.

M. Kalandros and L. Y. Pao. "Covariance Control Strategies for Reducing Bias Effects in Interacting Target Scenarios," IEEE Trans. Aerospace Electronic Systems, 41(1): 153-173, Jan. 2005.

  • L. Y. Pao. "Research in Control Systems, Sensor Fusion, and Haptic Interfaces," Acta Automatica Sinica, 31(1): 75-83, Jan. 2005.
  • R. M. Powers and L. Y. Pao. "Detecting Track-Loss for the Probabilistic Data Association Filter in the Absence of Truth Data," Proc. IEEE Conf. Decision and Control, Paradise Island, Bahamas, pp. 4316-4323, Dec. 2004.

    M. Mallick, L. Y. Pao, and K. C. Chang. "Multiple Hypothesis Tracking Based Distributed Fusion Using Decorrelated Pseudo Measurement Sequences," Proc. American Control Conf., Boston, MA, pp. 4750-4751, June 2004.

    W. Khawsuk and L. Y. Pao. "Distributed Multi-sensor Multi-target Tracking with Feedback," Proc. American Control Conf., Boston, MA, pp. 5356-5362, June 2004.

    M. Kalandros, L. Trailovic, L. Y. Pao, and Y. Bar-Shalom. "Tutorial on Multisensor Management and Fusion Algorithms for Target Tracking," Proc. American Control Conf., Boston, MA, pp. 4734-4748, June 2004.

    M. Kalandros and L. Y. Pao. "Covariance Control for Sensor Management in Cluttered Tracking Environments," AIAA J. Guidance, Control, and Dynamics, 27(3): 493-496, May-June 2004.

    M. Mallick, S. Schmidt, L. Y. Pao, and K. C. Chang. "Out-of-sequence Track (OOST) Filtering Using the Decorrelated Pseudo Measurement Approach," Proc. SPIE, Vol. 5428, Orlando, FL, April 2004.

    L. Trailovic and L. Y. Pao. "Computing Budget Allocation for Efficient Ranking and Selection of Variances with Application to Target Tracking Algorithms," IEEE Trans. Automatic Control, 49(1): 58-67, Jan. 2004.

    L. Trailovic and L. Y. Pao. "Position Error Modeling Using Gaussian Mixture Distributions with Application to Comparison of Tracking Algorithms," Proc. American Control Conf., Denver, CO, pp. 1272-1277, June 2003.

    L. Y. Pao and R. M. Powers. "A Comparison of Several Different Approaches for Target Tracking with Clutter," Proc. American Control Conf., Denver, CO, pp. 3919-3924, June 2003.

    W. Khawsuk and L. Y. Pao. "Decorrelated State Estimation for Distributed Tracking Using Multiple Sensors in Cluttered Environments," Proc. American Control Conf., Denver, CO, pp. 3208-3214, June 2003.

    M. Kalandros and L. Y. Pao. "Covariance Control for Multisensor Systems," IEEE Trans. Aerospace Electronic Systems, 38(4): 1138-1157, Oct. 2002.

    W. Khawsuk and L. Y. Pao. "Decorrelated State Estimation for Distributed Tracking of Interacting Targets in Cluttered Environments," Proc. American Control Conf., Anchorage, AK, pp. 899-904, May 2002.

    L. Trailovic and L. Y. Pao. " Computing Budget Allocation for Optimization of Sensor Processing Order in Sequential Multi-sensor Fusion Algorithms," Proc. American Control Conf., Arlington, VA, pp. 1841-1847, June 2001.

    M. Kalandros and L. Y. Pao. " Sensor Management for Tracking Interacting Targets," Proc. Workshop on Estimation, Tracking, Fusion, and Control: A Tribute to Yaakov Bar-Shalom, Monterey, CA, pp. 221-248, May 2001.

    L. Y. Pao and L. Trailovic. "The Optimal Order of Processing Sensor Information in Sequential Multisensor Fusion Algorithms," IEEE Trans. Automatic Control, 45(8): 1532--1536, Aug. 2000.

    M. K. Kalandros and L. Y. Pao. " The Effects of Data Association on Sensor Manager Systems," Proc. AIAA Guidance, Navigation, and Control Conf., Denver, CO, Aug. 2000.

    L. Y. Pao and W. Khawsuk. " Determining Track Loss Without Truth Information for Distributed Target Tracking Applications," Proc. American Control Conf., Chicago, IL, pp. 4363-4367, June 2000.

    M. K. Kalandros, L. Y. Pao, and Y.C. Ho. " Randomization and Super-Heuristics in Choosing Sensor Sets in Target Tracking Applications," Proc. IEEE Conf. Decision and Control, Phoenix, AZ, pp. 1803-1808, Dec. 1999.

    L. Y. Pao and L. Trailovic. " On the Order of Processing Sensor Information in Sequential Implementations of Fusion Algorithms," Proc. American Control Conf., San Diego, CA, pp. 2407-2411, June 1999.

    L. Y. Pao and N. T. Baltz. " Control of Sensor Information in Distributed Multisensor Systems," Proc. American Control Conf., San Diego, CA, pp. 2397-2401, June 1999.

    L. Y. Pao and M. K. Kalandros. " The Effects of Delayed Sensor Requests on Sensor Manager Systems," Proc. AIAA Guidance, Navigation, and Control Conf., Boston, MA, pp. 1127-1135, Aug. 1998.

    M. K. Kalandros and L. Y. Pao. " Controlling Target Estimate Covariance in Centralized Multisensor Systems," Proc. American Control Conf., Philadelphia, PA, pp. 2749-2753, June 1998.

    C. W. Frei and L. Y. Pao. "Alternatives to Monte Carlo Simulation Evaluations of Two Multisensor Fusion Algorithms," Automatica, 34(1): 103-110, Jan. 1998.

    L. Y. Pao and M. K. Kalandros. "Algorithms for a Class of Distributed Architecture Tracking," Proc. American Control Conf., Albuquerque, NM, pp. 1434-1438, June 1997.