发表机构
Drexel University（德雷塞尔大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出 SCOUT，一个基于 ROS 的机载感知与控制框架，用于无人机周界防御，通过 TensorRT 检测、ByteTrack 关联和状态机实现稳定跟踪，并验证了 92.2% 帧有效检测的实时拦截能力。
AI 中文摘要
未经授权的无人驾驶飞行器（UAV）的迅速激增，使得对稳健、抗干扰的反无人机系统用于周界防御的需求日益增长。本文介绍了 SCOUT（空间计算优化无人机跟踪），一个集成 ROS 的机载感知与控制框架，用于对来袭无人机进行实时空中防御。SCOUT 直接在防御无人机上执行视觉检测、目标关联、轨迹滤波和控制指令生成，无需依赖外部感知基础设施或地面站计算。为了提供稳定的控制输入，感知流水线结合了 TensorRT 加速的无人机检测、基于 ByteTrack 的关联以及一个轻量级的轨迹保持状态机。该状态机拒绝突发的目标跳变，并在临时检测退化期间维持短期目标连续性，从而减少由误检或目标切换引起的不稳定控制响应。我们通过集成硬件部署执行平面“守门”拦截策略来评估所提出的架构。在此设置中，防御无人机跟踪来袭目标并调整其运动以在受保护边界附近保持阻挡配置。真实飞行结果表明，SCOUT 在实时机载检测速率下运行，对 92.2% 的帧保持有效目标检测，证明了视觉跟踪和闭环控制用于无人机周界防御的可行性。端到端周界防御操作的视频演示可在网上获取。此 https URL
英文摘要
The rapid proliferation of unauthorized unmanned aerial vehicles (UAVs) has created a growing need for robust, jamming-resistant counter-UAV systems for perimeter defense. This paper presents \textbf{SCOUT} (Spatial Computation for Optimized UAV Tracking), a ROS-integrated onboard perception and control framework for real-time aerial defense against incoming UAVs. SCOUT performs visual detection, target association, track filtering, and control command generation directly onboard the defender UAV, without relying on external sensing infrastructure or ground-station computation. To provide stable control inputs, the perception pipeline combines TensorRT-accelerated drone detection with ByteTrack-based association and a lightweight track-retention state machine. The state machine rejects abrupt target jumps and maintains short-term target continuity during temporary detection degradation, reducing unstable control responses caused by false detections or target switching. We evaluate the proposed architecture through an integrated hardware deployment executing a planar ``goalkeeping'' interception strategy. In this setting, the defender UAV tracks the incoming target and adjusts its motion to maintain a blocking configuration near the protected boundary. Real-world flight results show that SCOUT maintains valid target detections for 92.2\% of frames while operating at real-time onboard detection rates, demonstrating the feasibility of visual tracking and closed-loop control for UAV perimeter defense. A video demonstration of the end-to-end perimeter defense operation is available online. https://figshare.com/s/497befc033091fc0b84f
CommentsAccepted at SSRR 2026
