An Optimal Timing Approach to Controlling Multiple UAVs

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Title: An Optimal Timing Approach to Controlling Multiple UAVs
Author: Ding, Xu Chu ; Powers, Matthew ; Egerstedt, Magnus B. ; Young, R.
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.
Description: © 2009 AACC Digital Object Identifier : 10.1109/ACC.2009.5159857
Type: Proceedings
ISSN: 0743-1619
Citation: X.C. Ding, M. Powers, M. Egerstedt, and R. Young. An Optimal Timing Approach to Controlling Multiple UAVs. American Control Conference. St. Louis, MO, USA, June 2009.
Date: 2009-06
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Rockwell Collins. Advanced Technology Center
Georgia Institute of Technology. College of Computing
Publisher: Georgia Institute of Technology
American Automatic Control Council
Subject: Optimal control
Unmanned aerial vehicles
Feedback mechanism

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