An Optimal Timing Approach to Controlling Multiple UAVs
Ding, Xu Chu
Egerstedt, Magnus B.
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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.