A Unified Cooperative Control Architecture for UAV Missions
Abstract
In this paper, we propose a unified cooperative control architecture (UCCA) that supports effective cooperation of Unmanned Aerial Vehicles (UAVs) and learning capabilities for UAV missions. Main features of the proposed UCCA include: (1) it has a modular structure; each function module focuses on a particular type of task and provide services to other function modules through well defined interfaces; (2) it allows the efficient sharing of UAV control and onboard resources by the function modules and is able to effectively handle simultaneously multiple objectives in the UAV operation; (3) it facilitates the cooperation among different function modules; (4) it supports effective cooperation among multiple UAVs on a mission s tasks, (5) an objective driven learning approach is also supported, which allows UAVs to systematically explore uncertain mission environments to increase the level of situation awareness for the achievement of their mission/task objectives.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 2012
- Accession Number
- ADA585010
Entities
People
- Erik Blasch
- Genshe Chen
- Khanh Pham
- Xin Tian
- Yaakov Bar-Shalom
Organizations
- University of Connecticut