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Unmanned Aerial Vehicles Mission Planning Under Uncertainty

2006
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Release : 2006
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Book Synopsis Unmanned Aerial Vehicles Mission Planning Under Uncertainty by : Philemon Sakamoto

Download or read book Unmanned Aerial Vehicles Mission Planning Under Uncertainty written by Philemon Sakamoto. This book was released on 2006. Available in PDF, EPUB and Kindle. Book excerpt: (cont.) In this research, we develop a UAV Mission Planner that couples the scheduling of tasks with the assignment of these tasks to UAVs, while maintaining the characteristics of longevity and efficiency in its plans. The planner is formulated as a Mixed Integer Program (MIP) that incorporates the Robust Optimization technique proposed by Bertsimas and Sim [12].

Cooperative Control: Models, Applications and Algorithms

2013-04-17 Mathematics
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Release : 2013-04-17
Genre : Mathematics
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Book Rating : 580/5 ( reviews)

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Book Synopsis Cooperative Control: Models, Applications and Algorithms by : Sergiy Butenko

Download or read book Cooperative Control: Models, Applications and Algorithms written by Sergiy Butenko. This book was released on 2013-04-17. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, considerable progress has been observed in all aspects regarding the study of cooperative systems including modeling of cooperative systems, resource allocation, discrete event driven dynamical control, continuous and hybrid dynamical control, and theory of the interaction of information, control, and hierarchy. Solution methods have been proposed using control and optimization approaches, emergent rule based techniques, game theoretic and team theoretic approaches. Measures of performance have been suggested that include the effects of hierarchies and information structures on solutions, performance bounds, concepts of convergence and stability, and problem complexity. These and other topics were discusses at the Second Annual Conference on Cooperative Control and Optimization in Gainesville, Florida. Refereed papers written by selected conference participants from the conference are gathered in this volume, which presents problem models, theoretical results, and algorithms for various aspects of cooperative control. Audience: The book is addressed to faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.

Examination of Planning Under Uncertainty Algorithms for Cooperative Unmanned Aerial Vehicles

2005
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Release : 2005
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Book Synopsis Examination of Planning Under Uncertainty Algorithms for Cooperative Unmanned Aerial Vehicles by : Rikin Bharat Gandhi

Download or read book Examination of Planning Under Uncertainty Algorithms for Cooperative Unmanned Aerial Vehicles written by Rikin Bharat Gandhi. This book was released on 2005. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) of UAVs and targets. Additionally, sensitivity trials are used to capture each algorithm's robustness to real world planning environments where planners must negotiate incomplete or inaccurate system models. The mission performances of both methods degrade as the quality of their system models worsen.

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

2012
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Release : 2012
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Book Synopsis Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams by : Andrew Normand Kopeikin

Download or read book Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams written by Andrew Normand Kopeikin. This book was released on 2012. Available in PDF, EPUB and Kindle. Book excerpt: As autonomous technologies continue to progress, teams of multiple unmanned aerial vehicles will play an increasingly important role in civilian and military applications. A multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This thesis presents a unique method to control communications through distributed mission planning to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. The distributed algorithm uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes the team is able to optimize the use of agents to address the needs of dynamic complex missions. The framework is designed to consider realistic network communication dynamics including path loss, stochastic fading, and information routing. The planning strategy is shown to ensure agents support both data-rate and interconnectivity bit-error- rate requirements during task execution. In addition, a method is provided for UAVs to estimate the network performance during times of uncertainty, adjust their plans to acceptable levels of risk, and adapt the planning behavior to changes in the communication environment. The system performance is verified through multiple experiments conducted in simulation. Finally, the work developed is implemented in outdoor flight testing with a team of up to four UAVs to demonstrate real-time capability and robustness to imperfections in the environment. The results validate the proposed framework, but highlight some of the challenges these systems face when operating in outdoor uncontrolled environments.

Robust Trajectory Planning for Unmanned Aerial Vehicles in Uncertain Environments

2008
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Release : 2008
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Book Synopsis Robust Trajectory Planning for Unmanned Aerial Vehicles in Uncertain Environments by : Brandon Douglas Luders

Download or read book Robust Trajectory Planning for Unmanned Aerial Vehicles in Uncertain Environments written by Brandon Douglas Luders. This book was released on 2008. Available in PDF, EPUB and Kindle. Book excerpt: As unmanned aerial vehicles (UAVs) take on more prominent roles in aerial missions, it becomes necessary to increase the level of autonomy available to them within the mission planner. In order to complete realistic mission scenarios, the UAV must be capable of operating within a complex environment, which may include obstacles and other no-fly zones. Additionally, the UAV must be able to overcome environmental uncertainties such as modeling errors, external disturbances, and an incomplete situational awareness. By utilizing planners which can autonomously navigate within such environments, the cost-effectiveness of UAV missions can be dramatically improved.This thesis develops a UAV trajectory planner to efficiently identify and execute trajectories which are robust to a complex, uncertain environment. This planner, named Efficient RSBK, integrates previous mixed-integer linear programming (MILP) path planning algorithms with several implementation innovations to achieve provably robust on-line trajectory optimization. Using the proposed innovations, the planner is able to design intelligent long-term plans using a minimal number of decision variables. The effectiveness of this planner is demonstrated with both simulation results and flight experiments on a quadrotor testbed.Two major components of the Efficient RSBK framework are the robust model predictive control (RMPC) scheme and the low-level planner. This thesis develops a generalized framework to investigate RMPC affine feedback policies on the disturbance, identify relative strengths and weaknesses, and assess suitability for the UAV trajectory planning problem. A simple example demonstrates that even with a conventional problem setup, the closed-loop performance may not always improve with additional decision variables, despite the resulting increase in computational complexity. A compatible low-level troller is also introduced which significantly improves trajectory-following accuracy, as demonstrated by additional flight experiments.

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