This chapter considers problems where multiple autonomous UAVs cooperate to control their individual state so as to optimize a common objective while communicating with each other to exchange state information. Since communication costs can be significant, especially when the UAVs operate with limited energy, conditions are sought under which communication of state information among nodes can be restricted while still ensuring that the optimization process converges. An asynchronous, event-driven scheme is described which limits communication to instants when some state estimation error function at a node exceeds a threshold. This scheme guarantees convergence to an optimal even in the presence of communication delays as long as they are bounded. This approach is applied to a UAV network coverage control problem where the objective is to maximize the probability of detecting events occurring in a given region, and it is shown that it may significantly reduce communication costs, hence also prolonging the system’s lifetime, without any performance degradation.
Distributed Optimization of Autonomous UAVs with Event-Driven Communication
Handbook of Unmanned Aerial Vehicles ; Kapitel : 60 ; 1749-1773
09.08.2014
25 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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