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Accession Number ADA585295
Title Dynamic Distributed Cooperative Control of Multiple Heterogeneous Resources.
Publication Date Oct 2012
Media Count 15p
Personal Author D. Schroeder M. J. Hirsch
Abstract This research 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. We assume 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 the perspective of UAV i) as well as remote information (from the perspective of the 'neighbor' UAVs) to determine the tasks to perform and the optimal trajectory of UAV i (and neighbor UAVs) 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. Metrics capturing the price of anarchy and price of decentralization are developed, and experimental results are discussed.
Keywords Control
Cooperative control
Decentralization
Decentralized control
Flight patterns
Heterogeneity
Line of sight
Price of anarchy
Remotely piloted vehicles
Resources
Uav(Unmanned aerial vehicles)
Urban areas


 
Source Agency Non Paid ADAS
NTIS Subject Category 99F - Physical & Theoretical Chemistry
72E - Operations Research
74E - Logistics, Military Facilities, & Supplies
Corporate Author Raytheon Co., Orlando, FL.
Document Type Technical report
Title Note Conference paper.
NTIS Issue Number 1403
Contract Number N/A

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