This chapter is concerned with dynamically determining appropriate flight patterns for a set of autonomous UAVs in an urban environment, with multiple mission goals. The UAVs are tasked with searching the urban region for targets of interest and tracking those targets that have been detected. It is assumed that there are limited communication capabilities between the UAVs and that there exist possible line of sight constraints between the UAVs and the targets. Each UAV (i) operates its own dynamic feedback loop, in a receding-horizon framework, incorporating local information (from UAV i perspective) as well as remote information (from the perspective of the “neighbor” UAVs) to determine the task to perform and the optimal flight path of UAV i over the planning horizon. This results in a decentralized and more realistic model of the real- world situation. As the coupled task assignment and flight route optimization formulation is NP-hard, a hybrid heuristic for continuous global optimization is developed to solve for the flight plan and tasking over the planning horizon. Experiments are considered as communication range between UAVs varies.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    On the Decentralized Cooperative Control of Multiple Autonomous Vehicles



    Published in:

    Handbook of Unmanned Aerial Vehicles ; Chapter : 112 ; 1577-1600


    Publication date :

    2014-08-09


    Size :

    24 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Dynamic Decentralized Cooperative Control of Multiple Autonomous Vehicles with Multiple Tasks for Urban Operations

    Hirsch, M. / Schroeder, D. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2012



    Decentralized Control of Autonomous Vehicles

    J. S. Baras / X. Tan / P. Hovareshti | NTIS | 2003


    Decentralized Cooperative Conflict Resolution for Multiple Nonholonomic Vehicles

    Frazzoli, Emilio / Pallottino, Lucia / Scordio, Vincenzo et al. | AIAA | 2005