Cooperative control strategies for swarm of unmanned aerial vehicles under motion uncertainty

This paper is motivated by the need to tackle uncertainty of motion of multiple co-operating autonomous vehicles which are endowed with autonomous decision-making capabilities. We argue that analysis and design of the controllers is attractive with the Kripke approach, i.e. the use of Kripke models with temporal logic statements and their automatic verification on the model. Not only is it rigorous, but it is also practical for tackling the central issue: guaranteed performance of the co-operating vehicles under sensor and communication constraints in unstructured environments. Unlike other approaches, the Kripke modelling framework is very general, so it can handle many kinds of uncertainty and dynamics in a unified way.