Airborne sensor and perception management: A conceptual approach for surveillance UAS

In this article, we present the concept of an integrated perception and sensor management function for airborne platforms with a focus on optimal resource allocation considering domain driven requirements. It is especially designed for small UAVs, where the shortage of weight, space and power has to be addressed. We propose a dynamic composition of algorithmic chains from individual perception modules in order to satisfy given perceptional tasks. A toy problem in the area of road vehicle tracking and detection is used to explain the resulting system in detail, consisting mainly of a Perception Solver, Processing Coordinator and Result Validator.