Coordinated UAV Manoeuvring Flight Formation

A methodology is presented for real-time control of unmanned aerial vehicles (UAV) in the absence of apriori knowledge of location of sites in an inhospitable flight territory. Our proposed hostile control methodology generates a sequence of waypoints to be pursued on the way to the target. Waypoints are continually computed with new information about the nature of changing threat. The Dijkstra algorithm is used to account for a weighted combination of threat measures arising from the probability of encountering hostile ground to air fire as well as the internal urgency to complete the mission in the shortest time. UAVs broadcast latest sensed data to their counterparts. The sequence of waypoints defines the trajectory of the UAV to its target. By varying components of cost function, paths are altered to obtain a desired performance criterion. Validation of our methodology is offered by a series of agentbased simulations.