Coordinated Control of Unmanned Aerial Vehicles

Coordinated Control of Unmanned Air Vehicles

An Intelligent Approach to Coordinated Control of Multiple Unmanned Aerial Vehicles

This paper introduces a novel architecture for the coordinated control of multiple Unmanned Aerial Vehicles (UAVs ) and a differential game theoretical approach to formation control and collision avoidance. The hierarchical architecture features an upper level with global situation awareness and team mission planning, a middle level with local knowledge, formation control and obstacle avoidance...

Coordinated aerobiological sampling of a plant pathogen in the lower atmosphere using two autonomous unmanned aerial vehicles

Unmanned aerial vehicles (UAVs) are an important tool to track the long-distance movement of plant pathogens above crop fields. Here, we describe the use of a control strategy (coordination via speed modulation) to synchronize two autonomous UAVs during aerobiological sampling of the potato late blight pathogen, Phytophthora infestans. The UAVs shared position coordinates via a wireless mesh ne...

Pursuit-Evasion Games with Unmanned Ground and Aerial Vehicles

This paper presents the implementation of a hierarchical architecture for the coordination and control of a heterogeneous team of autonomous agents. We consider the problem of having a team of agents pursue a second team of evaders while building a map of the environment. The control architecture emphasizes the autonomy of each agent yet allows for coordinated efforts among them. We address the...

Intelligent Autonomy and Performance Measures for Coordinated Unmanned Vehicles

This paper describes an autonomous Intelligent Controller (IC) architecture directly applicable to the design of unmanned autonomous vehicles and performance measures associated with intelligent autonomy. The vehicles may operate independently or cooperate to carry out complex missions involving disparate sensors or payload packages. An approach to measure the performance achieved with collabor...