Structure Design for UAV Swarm Cooperative Control Based on Graph Theory

Design and evaluation of UAV swarm command and control strategies

We present an approach to developing unmanned aerial vehicle (UAV) swarming behaviors and command and control (C2) strategies to govern them. In recent years, the military has become increasingly interested in the development and applications of UAVs. Recent attention has shifted toward designing UAVs which are not only unmanned, but also autonomous or self-controlled. One possible method is to...

A Unified Cooperative Control Architecture for UAV

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: i) 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 inter...

UAV swarm coordination using cooperative control for establishing a wireless communications backbone

In this paper, we present a mechanism to fly a swarm of UAVs with the aim of establishing a wireless backbone over a pre-specified area. The backbone is aimed at connecting intermittent wireless-signal-emitting mobile ground stations (GSs), comprising rescue teams and survivors. To this end, we present a decentralized behavior-based cooperative control architecture to search for unknown GSs and...

Transmission cost allocation based on cooperative game theory

Dynamic Mission Control for UAV Swarm via Task Stimulus Approach

Interest in self-organized (SO), multi-robotic systems is increasing because of their flexibility, robustness, and scalability in performing complex tasks. This paper describes a decentralized task allocation model based on both task stimulus intensity and a responding threshold. The response threshold method was developed through observations of social insects. It allows a swarm of insects wit...