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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Distributed Optimization of Autonomous UAVs with Event-Driven Communication



    Published in:

    Handbook of Unmanned Aerial Vehicles ; Chapter : 60 ; 1749-1773


    Publication date :

    2014-08-09


    Size :

    25 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Trajectory-Driven Adaptive Control of Autonomous UAVs with Disturbance Accommodation

    Painter, David A. / Prabhakar, Nirmit / Prazenica, Richard J. et al. | AIAA | 2017


    A Distributed Approach for Autonomous Landmine Detection Using Multi-UAVs

    Nath, Amar / Niyogi, Rajdeep | Springer Verlag | 2024


    Long-range communication framework for multi-agent autonomous UAVs

    Mammadov, Elchin / Gueaieb, Wail | IEEE | 2014


    Autonomous Systems Approach to UAVs

    Voos, H. | British Library Conference Proceedings | 2003


    Dynamic Event-Triggered Distributed Formation Consistency Control for Multi-UAVs

    Gai, Wendong / Zheng, Yuqi / Zhang, Guilin et al. | Springer Verlag | 2024