Control Architecture Selection and Design for Cooperating UAVs

Abstract

The objective of this research was to develop algorithms that can be embedded in a hierarchic coordination and control architecture for teams of multiple UAVs. This resulted in several algorithms that use mixed-integer linear programming (MILP) to perform the activity and path planning components of the team coordination problem. Research on this project focused on implementing these approaches using a receding planning horizon to improve the computational tractability and on increasing the robustness of the techniques to uncertainty in the situational awareness. We have also completed a multi-UAV testbed that will be used to evaluate various distributed and hierarchic control architectures.

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Document Details

Document Type
Technical Report
Publication Date
Nov 30, 2004
Accession Number
ADA437373

Entities

People

  • Jonathan How

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Collision Avoidance
  • Collisions
  • Command And Control
  • Computations
  • Control Systems
  • Cost Estimates
  • Motion Planning
  • Optimization
  • Simulations
  • Situational Awareness
  • Space Systems
  • Trajectories
  • Uncertainty
  • Unmanned Aerial Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Artificial Intelligence
  • Operations Research