Detection and Tracking of Multiple Intruders Using the Recursive-RANSAC Algorithm

Unmanned air systems (UAS) have been growing in popularity during the past 10 to 15 years. In 2001 the Pentagon had less than 50 unmanned aircraft and by 2012 had over 7,500 [1]. The Department of Defense has also shown more interest in unmanned aircraft by providing $6.0 billion in 2011 [2, 3]. UAS technology has not been growing within the United States territory as quickly due to regulations of integrating these aircraft within the National Airspace System (NAS). Because of these regulatory challenges the Department of Defense (DoD) has stated that, “integrating UAS into the NAS is essential to fulfill our airborne mission requirements” [4]