Target localisation in search and rescue scenarios using ARTVA-Based autonomous mobile agents

This paper addresses the problem of target localisation in search and rescue scenarios using a formation of autonomous mobile agents equipped with ARTVA technology, based on electromagnetic transceivers. In detail, the target emits an electromagnetic signal sensed by the receivers installed on the mobile agents. The noise floor and the shape of the target's electromagnetic radiation pattern make this problem particularly challenging. Indeed, on the one hand, the radiation pattern induces a spatially non-uniform signal-to-noise ratio (SNR); on the other hand, the SNR decreases inversely with the distance from the electromagnetic source. As a result, localisation performance-both in terms of time and accuracy-strongly depends on the trajectory designed for the agents. To tackle this challenge, a combined estimation and control strategy is proposed to accelerate the localisation process. In detail, the agents use the sensed electromagnetic signals to estimate the target's location, and this estimate is then used to guide the formation toward areas with more favourable SNR, thereby subsequently improving the accuracy of the target position estimation. A theoretical proof of the stability of the proposed solution is provided, and simulation results demonstrate that the approach outperforms existing methods.