Patrick Vincent
ABSTRACT
We design and analyze the performance of cooperative search strategies for unmanned aerial vehicles (UAVs) searching for moving, possibly evading, targets in a hazardous environment. Rather than engaging in independent sensing missions, the sensing agents (UAVs with sensors) "work together" by arranging themselves into a flight configuration that optimizes their integrated sensing capability. If a UAV is shot down by enemy fire, the team adapts by reconfiguring its topology to optimally continue the mission with the surviving assets. We presetn a cooperative search methodology that integrates the multiple agents into an advantageous formation that distinctively enhances the sensing and detection operations of the system while minimizing the transmission of excessive control information for adaptation of the team's topology. After analyzing our strategy to determine the performance tradeoff between search time and number of UAVs employed, we present an algorithm that selects the minimum number of UAVs to deploy in order to meet a targeted search time within probabilistic guarantees.
- Ablavsky, V. and Snorrason, M. Optimal Search For a Moving Target: A Geometric Approach. In Proceedings of the AIAA Guidance, Navigation and Control Conference (Denver, CO, August 14--17). American Institute of Aeronautics and Astronautics, Virginia, 2000.Google Scholar
Cross Ref
- Benkoski, S., Monticino, M., and Weisinger, J. A Survey of the Search Theory Literature. Naval Research Logistics 38, 4 (August 1991), 469--494.Google ScholarCross Ref
- Choset, H. Coverage for Robotics-A Survey of Recent Results. Annals of Mathematics and Artifical Intelligence 31, 1/4 (2001), 113--126. Google ScholarDigital Library
- Hert, S., Tiwari, S. and Lumelsky, V. A Terrain-Covering Algorithm for an AUV. Autonomous Robots 3, 2 (1996), 91--119.Google ScholarCross Ref
- Koopman, B. O. The Theory of Search II, Target Detection. Operations Research 4, 5 (October 1956), 503--531.Google ScholarDigital Library
- Kurabayashi, J., Ota, J., Arai, T. And Yoshida, E. Cooperative Sweeping by Multiple Mobile Robots. In Proceedings of the IEEE International Conference on Robotics and Automation, (Minneapolis, MN, April 22--28). IEEE Computer Society Press, 1996, 1744--1749.Google ScholarCross Ref
- Lumelsky, V. J., Mukhopadhyay, S. and Sun, K. Dynamic Path Planning in Sensor-Based Terrain Acquisition. IEEE Transactions on Robotics and Automation, 6, 4, (August 1990), 462--472.Google ScholarCross Ref
- Passino, K., Polycarpou, M., Jacques, D., Pachter, M., Liu, Y., Yang, Y., Flint, M. and Baum, M. Cooperative Control for Autononous Air Vehicles. In Cooperative Control and Optimization, R. Murphey and P. Pardalos, editors. Kluwer Academic Publishers, Boston, 2002.Google Scholar
- Polycarpou, M., Yang, Y. and Passino, K. A Cooperative Search Framework for Distributed Agents. In Proceedings of the 2001 IEEE International Symposium on Intelligent Control (Mexico City, Mexico, September 5--7). IEEE, New Jersey, 2001, 1--6.Google ScholarCross Ref
- Stone, L.D. Theory of Optimal Search. Academic Press, New York, 1975.Google Scholar
- Spires, S. and Goldsmith, S. Exhaustive Geographic Search With Mobile Robots Along Space Filling Curves. In Proceedings of the First International Workshop on Collective Robotics, CRW '98 (Paris, France, July 4--5). Springer, Berlin, 1998, 1--12. Google ScholarDigital Library
Index Terms
- A framework and analysis for cooperative search using UAV swarms
Recommendations
Software design of monitoring and flight simulation for UAV swarms based on OSGEarth
Real-time monitoring of unmanned aerial vehicle (UAV) swarms is critical for flight safety. In order to monitor the position and working condition of UAV intuitively, we propose three-dimensional (3D) monitoring software for UAV swarms based on ...
Towards Autonomous Micro UAV Swarms
Micro Unmanned Aerial Vehicles (UAVs) such as quadrocopters have gained great popularity over the last years, both as a research platform and in various application fields. However, some complex application scenarios call for the formation of swarms ...
Scalable distributed microservices for autonomous UAV swarms: poster abstract
Middleware Demos and Posters '22: Proceedings of the 23rd International Middleware Conference Demos and PostersUnmanned aerial vehicles (UAV) are revolutionizing critical industries. Their inexpensive and accessible nature makes them useful for a number of broad applications including agriculture, infrastructure inspection, and more. In response to this ...
Comments