Title:
An Optimal Timing Approach to Controlling Multiple UAVs
An Optimal Timing Approach to Controlling Multiple UAVs
Author(s)
Ding, Xu Chu
Powers, Matthew
Egerstedt, Magnus B.
Young, R.
Powers, Matthew
Egerstedt, Magnus B.
Young, R.
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Abstract
In this paper we address the problem of having
a single operator control a team of unmanned aerial vehicles
(UAVs). This is achieved by having the team execute a leader-follower
coordinated behavior, where the leader is responsible
for the execution of the high-level mission. The operator
interacts with the system by selecting a leader and a decision
support mechanism is provided whereby the system computes
the best choice of leader in the current situation. This feedback
is obtained through a novel, receding horizon optimal timing
control that computes an on-line estimate as to the relative
merits of selecting different vehicles as leaders. The method
is implemented in a dynamic, 3D simulation environment,
illustrating the soundness of the proposed approach.
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Date Issued
2009-06
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Proceedings