Complexity in UAV Cooperative Control
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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.
author list (cited authors)
Chandler, P. R., Pachter, M., Swaroop, D., Fowler, J. M., Howlett, J. K., Rasmussen, S., Schumacher, C., & Nygard, K.