Information-Based Cooperative Control for Multiple Unmanned Aerial Vehicles

Author

Pack, Daniel ; York, George ; Fierro, Rafael

Author_Institution

Fac. of Electr. & Comput. Eng., US Air Force Acad., Colorado Springs, CO

fYear

0

fDate

0-0 0

Firstpage

446

Lastpage

450

Abstract

In this paper, we present a distributed control algorithm to locate multiple mobile radio frequency (RF) targets using cooperative unmanned aerial vehicles (UAVs) equipped only with Global Positioning System (GPS) sensors and angle of arrival sensors. The proposed control algorithm considers the number of UAVs involved, sensor schedules, and sensor trajectories to increase the performance of cooperative UAVs localizing ground targets. The UAVs use optimal recursive estimation techniques to minimize target localization errors and differential geometry techniques to generate UAV (sensor) trajectories

Keywords

Global Positioning System; aircraft; differential geometry; direction-of-arrival estimation; distributed control; mobile radio; mobile robots; multi-robot systems; recursive estimation; remotely operated vehicles; target tracking; wireless sensor networks; Global Positioning System sensors; angle-of-arrival sensors; differential geometry techniques; distributed control algorithm; ground target localization errors; information-based cooperative control; multiple mobile radio frequency targets; multiple unmanned aerial vehicles; optimal recursive estimation techniques; sensor schedules; sensor trajectories; Distributed control; Geometry; Global Positioning System; Land mobile radio; Radio frequency; Recursive estimation; Scheduling algorithm; Sensor systems; Trajectory; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on

Conference_Location

Ft. Lauderdale, FL

Print_ISBN

1-4244-0065-1

Type

conf

DOI

10.1109/ICNSC.2006.1673187

Filename

1673187