Complexity in UAV cooperative control Academic Article

abstract

• This paper addresses complexity and coupling issues in cooperative decision and control of distributed autonomous UAV teams. In particular, the recent results obtained by the inhouse research team are presented. Hierarchical decomposition is implemented where team vehicles are allocated to subteams using set partition theory. Results are presented for single assignment and multiple assignment using network flow and auction algorithms. Simulation results are presented for wide area search munitions where complexity and coupling are incrementally addressed in the decision system, yielding radically improved team performance.

authors

• Darbha, Swaroop

published proceedings

• PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6

author list (cited authors)

• Chandler, P. R., Pachter, M., Swaroop, D., Fowler, J. M., Howlett, J. K., Rasmussen, S., Schumacher, C., & Nygard, K.

citation count

• 112

complete list of authors

• Chandler, PR||Pachter, M||Swaroop, D||Fowler, JM||Howlett, JK||Rasmussen, S||Schumacher, C||Nygard, K

publication date

• January 2002

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... American Control Conference. American Control Conference  Journal

Digital Object Identifier (DOI)

• 10.1109/acc.2002.1023833

start page

• 1831

end page

• 1836

volume

• 1-6

URL

• http://dx.doi.org/10.1109/acc.2002.1023833