Paper Info
Title
Decentralized Control Of Unmanned Aerial Vehicle Collaborative Sensing Missions
Abstract
Cooperative unmanned aerial vehicle (UAV) teams can serve as a mobile sensor networks to autonomously execute sensing tasks in uncertain and dynamic environments. We have implemented a UAV system that performs collaborative sensing missions under the supervision of a single user. Decentralized task allocation and autonomous mission execution are enabled by onboard computing and ad-hoc wireless communication and provide robustness to communication and resource losses in quickly evolving scenarios.The collaboration algorithm combines shared and local information to produce multi-step plans with the goal of minimizing the global cost of the mission. Missions are constructed in real time from tasks such as patrolling an area or searching for an intruder, and may include constraints such as a restricted airspace. Algorithms for decentralized planning, guaranteed search and avoiding a restricted airspace were demonstrated using a team of four UAVs. Experimental data shows that tasks were allocated to the appropriate UAVs and successfully executed.
Year
DOI
Venue
2007
10.1109/ACC.2007.4282397
2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13
Keywords
DocType
ISSN
decentralized planning,robustness,collaboration,control systems,path planning,routing,mobile robots,real time,wireless communication,collaborative software,remotely operated vehicles,decentralized control,wireless sensor networks
Conference
0743-1619
Citations 
PageRank 
References 
17
1.09
7
Authors
8
Name
Order
Citations
PageRank
alan j ryan1171.09
john tisdale2171.09
mark godwin3342.18
mark godwin4342.18
d coatta5171.09
stephen c spry6292.15
Raja Sengupta71468258.78
J. Karl Hedrick869187.42