Multiple event localization in a sparse acoustic sensor network using UAVs as data mules

We report on a field demonstration of autonomous detection, localization, and verification of multiple acoustic events using sparsely deployed unattended ground sensors, unmanned aerial vehicles (UAV) as data mules, and a ground control interface. A novel algorithm is demonstrated to address the problem of multiple event acoustic source localization in the presence of false and missed detections. We also demonstrate an algorithm to route a UAV equipped with a radio to collect data from sparsely deployed ground sensors that takes advantage of the communication range of the aircraft while adhering to kinematic constraints of the UAV. A second UAV was utilized to provide video verification of localized events to a human operator at a ground control station.