Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs

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1、INVITEDPAPERDecentralizedCooperativeAerialSurveillanceUsingFixed-WingMiniatureUAVsTeamsofunmannedairvehicles(UAVs)cancooperatewhentheircommonobjectivesaredefinedandeachvehiclehastheinformationneededtocooperate,evenwhentherearecommunicationsdifficulties.ByRandalW.Beard,TimothyW.McLain,Der

2、ekB.Nelson,DerekKingston,andDavidJohansonABSTRACT

3、Numerousapplicationsrequireaerialsurveil-effectivenessofthesolutionwillbeshownusingbothhigh-lance.Civilianapplicationsincludemonitoringforestfires,oilfidelitysimulationandactualflighttests.fields,andpipelinesandtrackingwildlife.Applicatio

4、nstohomelandsecurityincludeborderpatrolandmonitoringtheKEYWORDS

5、Aerialrobotics;autonomoussystems;consensus;perimeterofnuclearpowerplants.Militaryapplicationsarecooperativecontrol;surveillance;unmannedairvehiclesnumerous.Thecurrentapproachtotheseapplicationsistouseasinglemannedvehiclefors

6、urveillance.However,mannedvehiclesaretypicallylargeandexpensive.Inaddition,hazard-I.INTRODUCTIONousenvironmentsandoperatorfatiguecanpotentiallythreat-Groupcooperativebehaviorimpliesthatindividualsintheenthelifeofthepilot.Therefore,thereisacriticalneedforgroupshareacommonobjectiveandactac

7、cordingtotheautomatingaerialsurveillanceusingunmannedairvehiclesmutualinterestofthegroup.Effectivecooperationoften(UAVs).Thispapergivesanoverviewofacooperativecontrolrequiresthatindividualscoordinatetheiractions.Coordi-strategyforaerialsurveillancethathasbeensuccessfullyflightnationcanta

8、kemanyformsrangingfromstayingoutoftestedonsmall(48-inwingspan)UAVs.Ourapproachtoeachothers’waytodirectlyassistinganotherindividual.Incooperativecontrolproblemscanbesummarizedinfourgeneral,groupcooperationisfacilitatedbycoordinatingsteps:1)thedefinitionofacooperationconstraintandtheaction

9、sofindividuals.However,eachindividualmaycooperationobjective;2)thedefinitionofacoordinationnotnecessarilyneedtodirectlycoordinatewitheveryvariableastheminimalamountofinformationneededtootherindividualinthegrouptoeffectgroupcooperativeeffectcooperation;3)thedesignofacentra