Download or read book Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams written by Andrew Normand Kopeikin and published by . This book was released on 2012 with total page 160 pages. 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.
Download or read book Dynamic Mission Planning for Unmanned Aerial Vehicles written by Samantha Raye Rennu and published by . This book was released on 2020 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is to produce a closed-loop feedback mission planning tool that allows for the operator to control multiple Unmanned Aerial Vehicles (UAV) within a mission. Different styles of UAVs and mission planners that are available on the market were evaluated and selected for their cost, size, ability to customize, and fit for mission work. It was determined that commercially available mission planners do not provide the level of automation required, such as allowing for different algorithms for assigning UAV tasks and for planning UAV flight paths within a mission. Comparisons were made between different algorithms for path planning and tasking. From these comparisons, a bio-inspired machine-learning algorithm, Genetic Algorithm (GA), was chosen for assigning tasks to UAVs and Dubins path was chosen for modeling UAV flight paths within the mission simulation. Since market mission planners didn't allow for control of multiple UAVs, or wouldn't allow for the operator to add algorithms to increase usability and automation of the program, it was decided to create a Graphic User Interface (GUI) that would allow the operator to customize UAVs and the mission scenario. A test mission scenario was then designed, which included 9 Points of Interest (POI), 1 to 3 Targets of Interest (TOI), 3 to 5 UAVs, as well as simulation options that modeled failure of a task or a UAV crash. Operator feedback was incorporated into the simulation by allowing the operator to determine a course of action if a failure occurred, such as reprogramming the other UAVs to complete the tasks left by the crashed UAV or reassessing a failed task. Overall mission times decreased for reprogramming the UAVs versus running a separate mission to complete any tasks left by the crashed UAV. Additional code was added to the GA and Dubins path to increase speed without decreasing solution fitness.
Download or read book CONTROLO 2022 written by Luís Brito Palma and published by Springer Nature. This book was released on 2022-07-02 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a timely and comprehensive snapshot of research and developments in the fields of dynamic systems and control engineering. Covering a wide range of theoretical and practical issues, the contributions describes a number of different control approaches, such as PID control, adaptive control, nonlinear systems and control, intelligent monitoring and control based on fuzzy and neural systems, robust control systems, and real time control, among others. Sensors and actuators, measurement systems, renewable energy systems, aeronautic and aerospace systems as well as industrial control and automation, are also comprehensively covered. Based on the proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, held on July 6-8, 2022, in Caparica, Portugal, the book offers a timely and thoroughly survey of the latest research in the fields of dynamic systems and automatic control engineering, and a source of inspiration for researchers and professionals worldwide.
Download or read book A Dynamic Mission Replanning Testbed for Supervisory Control of Multiple Unmanned Aerial Vehicles written by and published by . This book was released on 2006 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: As unmanned aerial vehicles (UAVs) increase in autonomy, operators will be increasing their span of control. Most UAV systems require two or more operators to fly and operate payloads, but systems are being developed with the concept of a single operator monitoring multiple UAVs. This supervisory control of multiple UAVs raises many issues concerning the balance of system autonomy with human interaction to keep the operator in-the-loop. Testbeds are needed that specifically address multi-UAV supervisory control, replicating the complex automation algorithms and allowing operator initiation and inspection into these systems. There is currently an effort underway to develop a dynamic mission replanning testbed for human factors research on supervisory control of multiple UAVs. This testbed utilizes Air Force certified autorouting study is being performed with this still developing testbed and results will be presented.
Download or read book UAV Cooperative Decision and Control written by Tal Shima and published by SIAM. This book was released on 2009-01-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are increasingly used in military missions because they have the advantages of not placing human life at risk and of lowering operation costs via decreased vehicle weight. These benefits can be fully realized only if UAVs work cooperatively in groups with an efficient exchange of information. This book provides an authoritative reference on cooperative decision and control of UAVs and the means available to solve problems involving them.
Download or read book Computational Methods and Models for Transport written by Pedro Diez and published by Springer. This book was released on 2017-06-28 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume addresses challenges and solutions in transport and mobility of people and goods with respect to environment, safety, security and socio–economics issues, exploring advanced computational research work and the latest innovations in transport. This book brings together lectures presented at the ECCOMAS Thematic CM3 Conference on Transport held in Jyväskylä, Finland, 25-27 May 2015. It is divided into three parts, I: Reviews and Perspective, II: Computational Methods and Models and III: Translational Research. Each of these parts consists of contributions that present solutions to many transport challenges in this complex, rapidly changing subject. The work contains the latest achievements of European research and technological developments needed for the next decade through computational results of scientific and technical experts who have made essential contributions in transport efficiency in Europe. The material presented here is the state of the art in Transport Modeling, Simulation and Optimization in the fields of Aeronautics, Automotive, Logistics, Maritime and Rails. Furthermore, this volume also answers the question how to apply Computational Research in Transport in order to provide innovative solutions to Green Transportation challenges of identified in the ambitious Horizon 2020 program. This book is intended for students, researchers, engineers and practitioners that are computationally involved in the deployment of Intelligent Transport Systems (ITS) in the areas of optimal use of road, traffic and travel data, traffic and freight management ITS services, road safety and security, sea traffic management, etc.
Download or read book Fault Tolerant Cooperative Control of Unmanned Aerial Vehicles written by Ziquan Yu and published by Springer Nature. This book was released on 2023-12-06 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the fault-tolerant cooperative control (FTCC) of multiple unmanned aerial vehicles (multi-UAVs). It provides systematic and comprehensive descriptions of FTCC issues in multi-UAVs concerning faults, external disturbances, strongly unknown nonlinearities, and input saturation. Further, it addresses FTCC design from longitudinal motions to attitude motions, and outer-loop position motions of multi-UAVs. The book’s detailed control schemes can be used to enhance the flight safety of multi-UAVs. As such, the book offers readers an in-depth understanding of UAV safety in cooperative/formation flight and corresponding design methods. The FTCC methods presented here can also provide guidelines for engineers to improve the safety of aerospace engineering systems. The book offers a valuable asset for scientists and researchers, aerospace engineers, control engineers, lecturers and teachers, and graduates and undergraduates in the system and control community, especially those working in the field of UAV cooperation and multi-agent systems.
Download or read book Multi agent UAV Planning Using Belief Space Hierarchical Planning in the Now written by Caris Moses and published by . This book was released on 2015 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning long duration missions for unmanned aerial vehicles (UAVs) in dynamic environments has proven to be a very challenging problem. Tactical UAVs must be able to reason about how to best accomplish mission objectives in the face of evolving mission conditions. Examples of UAV missions consist of executing multiple tasks such as: locating, identifying, and prosecuting targets; avoiding dynamic (i.e. pop-up) threats; geometric path planning with kinematic and dynamic constraints; and/or acting as a communication relay. The resulting planning problem is then one over a large and stochastic state space due to the size of the mission environment and the number of objects within that environment. The world state is also only partially observable due to sensor noise, and requires us to plan in the belief space, which is a probability distribution over all possible states. Some a priori contextual knowledge, like target and threat locations, is available via satellite imagery based maps. However, it is possible this will be "old" data by execution time. This makes classic approaches to a priori task, or symbolic, planning a poor choice of tool. In addition, task planners traditionally do not have methods for handling geometric planning problems as they focus on high level tasks. However, modern belief space geometric planning tools become intractable for large state spaces, such as ours. Recent tools in the domain of robotic manipulation have approached this problem by combining symbolic and geometric planning paradigms. One in particular, Hierarchical Planning-in-the-Now in belief space (BHPN) is a hierarchical planning technique that tightly couples geometric motion planning in belief spaces with symbolic task planning, providing a method for turning large-scale intractable belief space problems into smaller tractable ones. In addition to all of the complexities associated with UAV mission planning discussed above, it is also common for multiple UAVs to work as a team to accomplish a mission objective. This is due to the fact that some vehicles may have certain sensor capabilities that others lack. It could also simply be to spread out and achieve sufficient coverage of an environment. We take a decentralized planning approach to enabling UAV teaming. BHPN provides a flexible method of implementing this loosely-coupled multi-agent planning effort.
Download or read book Intelligent Autonomy of UAVs written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2018-03-14 with total page 421 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Autonomy of UAVs: Advanced Missions and Future Use provides an approach to the formulation of the fundamental task typical to any mission and provides guidelines of how this task can be solved by different generic robotic problems. As such, this book aims to provide a systems engineering approach to UAV projects, discovering the real problems that need to be resolved independently of the application. After an introduction to the rapidly evolving field of aerial robotics, the book presents topics such as autonomy, mission analysis, human-UAV teams, homogeneous and heterogeneous UAV teams, and finally, UAV-UGV teams. It then covers generic robotic problems such as orienteering and coverage. The book next introduces deployment, patrolling, and foraging, while the last part of the book tackles an important application: aerial search, tracking, and surveillance. This book is meant for both scientists and practitioners. For practitioners, it presents existing solutions that are categorized according to various missions: surveillance and reconnaissance, 3D mapping, urban monitoring, precision agriculture, forestry, disaster assessment and monitoring, security, industrial plant inspection, etc. For scientists, it provides an overview of generic robotic problems such as coverage and orienteering; deployment, patrolling and foraging; search, tracking, and surveillance. The design and analysis of algorithms raise a unique combination of questions from many fields, including robotics, operational research, control theory, and computer science.
Download or read book Multi UAV Planning and Task Allocation written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2020-03-27 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-robot systems are a major research topic in robotics. Designing, testing, and deploying aerial robots in the real world is a possibility due to recent technological advances. This book explores different aspects of cooperation in multiagent systems. It covers the team approach as well as deterministic decision-making. It also presents distributed receding horizon control, as well as conflict resolution, artificial potentials, and symbolic planning. The book also covers association with limited communications, as well as genetic algorithms and game theory reasoning. Multiagent decision-making and algorithms for optimal planning are also covered along with case studies. Key features: Provides a comprehensive introduction to multi-robot systems planning and task allocation Explores multi-robot aerial planning; flight planning; orienteering and coverage; and deployment, patrolling, and foraging Includes real-world case studies Treats different aspects of cooperation in multiagent systems Both scientists and practitioners in the field of robotics will find this text valuable.
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by John Wiley & Sons. This book was released on 2010-11-09 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.
Download or read book Army Unmanned Aircraft System Operations FMI 3 04 155 Improved Gnat I Gnat RQ 1L Hunter RQ 5 MQ 5 Shadow RQ 7 Raven RQ 11 Joint Operations Targeting Reconnaissance written by U. S. Military and published by . This book was released on 2017-08-19 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the Army's keystone doctrine for how to fight and sustain Army Unmanned Aircraft Systems (UAS). Chapter 1 focuses on UAS organizations, missions, and fundamentals. Chapter 2 provides an overview of Army UAS and system descriptions and capabilities. Chapter 3 provides an overview of joint UAS and the capabilities they give the maneuver commander. Chapter 4 discusses UAS planning considerations all users must be familiar with for the successful execution of UAS operations. Chapter 5 discusses employment of the UAS. Chapter 6 discusses sustainment requirements and considerations for UAS operations at all echelons. UAS operations support battlefield commanders and their staffs as they plan, coordinate, and execute operations. UAS increase the situational awareness (SA) of commanders through intelligence, surveillance, and reconnaissance (ISR). Chapter 1 * ORGANIZATION, MISSIONS, and FUNDAMENTALS * Section I - General * Unmanned aircraft system Types * Organization * Mission * Capabilities * Limitations * Fundamentals * Echelons of Support * Section II - Unmanned Aircraft System Organizations * RQ-1L I-Gnat Organization * RQ-5/MQ-5 Hunter Aerial Reconnaissance Company * RQ-7 Shadow Aerial Reconnaissance Platoon * RQ-11 Raven Team * Section III - Duty Descriptions and Responsibilities * Company Commander * Platoon Leader * Unmanned aircraft system Operations Officer (150U) * First Sergeant * Platoon Sergeant * Air Mission Commander * Unmanned aircraft system Operator (15W) * External Pilot (RQ-5/MQ-5 Hunter Only) * Unmanned Aerial System Operator (RQ-11 Raven) * Chapter 2 * ARMY UNMANNED AERIAL SYSTEMS * RQ-1L I-Gnat * RQ-5/MQ-5 Hunter * RQ-7 Shadow * RQ-11 Raven * Chapter 3 * JOINT UNMANNED AERIAL SYSTEMS * Section I - Joint UAS Request Procedures * Joint Command Architecture * Unmanned aircraft system Support * Section II - Air Force * RQ-4 Global Hawk * RQ/MQ-1 Predator * MQ-9 Predator B * Force Protection Aerial Surveillance System-Desert Hawk * Section III - Navy * RQ-2 Pioneer * RQ-8B Fire Scout * Section IV - Marine Corps * FQM-151 Pointer * Dragon Eye * Silver Fox * Scan Eagle * Section V - Coast Guard * Eagle Eye * Section VI-Special Operations Command * CQ-10 SnowGoose * FQM-151 Pointer * RQ-11 Raven * Dragon Eye * Chapter 4 * UNMANNED AERIAL SYSTEMS MISSION PLANNING CONSIDERATIONS * Section I - Overview * Section II - Employment Considerations * Location of Unmanned aircraft systems * Sustained Operations * Terrain and Weather * Sensor Considerations * Threat Considerations * Time/Resources Available * Dynamic Retasking * Civil Considerations (Combat Operations) * Section III - Mission Planning Process * Mission Supported Unit * Echelons Above Brigade Combat Team Tasking and Planning * Brigade and Below Planning Responsibilities * Brigade and Below Tasking/Planning * Unmanned aircraft system Unit Planning Process * Post Mission Actions * Section IV - Army Airspace Command and Control * Section V - Command and Control * Levels of Interoperability * Communications * Using a Remote Video Terminal * Section VI - Risk Mitigation * Safety * Risk Management * Unmanned aircraft system Safety Considerations * Chapter 5 * UNMANNED AERIAL SYSTEMS EMPLOYMENT * Section I - Reconnaissance and Surveillance * Reconnaissance * Unmanned aircraft system Reconnaissance Fundamentals * Actions on the Objective * Data Exfiltration * Surveillance * Section II - Security Operations * Screen * Guard and Cover Operations * Section III-Unmanned Aircraft System Targeting * Facilitate Targeting * Precision of Target Locations * Facilitate Command and Control * Facilitate Movement * Section IV - Manned-Unmanned Team Operations * Manned-Unmanned Team Missions * Reconnaissance, Surveillance, and Target Acquisition Missions * Screen Missions * Movement to Contact * Aerial Target Designation * Artillery Fire Support * Close Air Support * Kill Box * Section V - Personnel Recovery * Mission Execution
Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Jianglong Yu and published by Springer Nature. This book was released on with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomy and Unmanned Vehicles written by Somaiyeh MahmoudZadeh and published by Springer. This book was released on 2018-08-06 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses higher–lower level decision autonomy for autonomous vehicles, and discusses the addition of a novel architecture to cover both levels. The proposed framework’s performance and stability are subsequently investigated by employing different meta-heuristic algorithms. The performance of the proposed architecture is shown to be largely independent of the algorithms employed; the use of diverse algorithms (subjected to the real-time performance of the algorithm) does not negatively affect the system’s real-time performance. By analyzing the simulation results, the book demonstrates that the proposed model provides perfect mission timing and task management, while also guaranteeing secure deployment. Although mainly intended as a research work, the book’s review chapters and the new approaches developed here are also suitable for use in courses for advanced undergraduate or graduate students.
Download or read book Autonomous Navigation and Deployment of UAVs for Communication Surveillance and Delivery written by Hailong Huang and published by John Wiley & Sons. This book was released on 2022-09-27 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery Authoritative resource offering coverage of communication, surveillance, and delivery problems for teams of unmanned aerial vehicles (UAVs) Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery studies various elements of deployment of networks of unmanned aerial vehicle (UAV) base stations for providing communication to ground users in disaster areas, covering problems like ground traffic monitoring, surveillance of environmental disaster areas (e.g. brush fires), using UAVs in rescue missions, converting UAV video surveillance, and more. The work combines practical problems, implementable and computationally efficient algorithms to solve these problems, and mathematically rigorous proofs of each algorithm’s convergence and performance. One such example provided by the authors is a novel biologically inspired motion camouflage algorithm to covert video surveillance of moving targets by an unmanned aerial vehicle (UAV). All autonomous navigation and deployment algorithms developed in the book are computationally efficient, easily implementable in engineering practice, and based only on limited information on other UAVs of each and the environment. Sample topics discussed in the work include: Deployment of UAV base stations for communication, especially with regards to maximizing coverage and minimizing interference Deployment of UAVs for surveillance of ground areas and targets, including surveillance of both flat and uneven areas Navigation of UAVs for surveillance of moving areas and targets, including disaster areas and ground traffic monitoring Autonomous UAV navigation for covert video surveillance, offering extensive coverage of optimization-based navigation Integration of UAVs and public transportation vehicles for parcel delivery, covering both one-way and round trips Professionals in navigation and deployment of unmanned aerial vehicles, along with researchers, engineers, scientists in intersecting fields, can use Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery to gain general knowledge on the subject along with practical, precise, and proven algorithms that can be deployed in a myriad of practical situations.
Download or read book Networked Control Systems written by Alberto Bemporad and published by Springer Science & Business Media. This book was released on 2010-10-14 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book nds its origin in the WIDE PhD School on Networked Control Systems, which we organized in July 2009 in Siena, Italy. Having gathered experts on all the aspects of networked control systems, it was a small step to go from the summer school to the book, certainly given the enthusiasm of the lecturers at the school. We felt that a book collecting overviewson the important developmentsand open pr- lems in the eld of networked control systems could stimulate and support future research in this appealing area. Given the tremendouscurrentinterests in distributed control exploiting wired and wireless communication networks, the time seemed to be right for the book that lies now in front of you. The goal of the book is to set out the core techniques and tools that are ava- able for the modeling, analysis and design of networked control systems. Roughly speaking, the book consists of three parts. The rst part presents architectures for distributed control systems and models of wired and wireless communication n- works. In particular, in the rst chapter important technological and architectural aspects on distributed control systems are discussed. The second chapter provides insight in the behavior of communication channels in terms of delays, packet loss and information constraints leading to suitable modeling paradigms for commu- cation networks.
Download or read book Recent Advances in Research on Unmanned Aerial Vehicles written by Fariba Fahroo and published by Springer. This book was released on 2013-04-10 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt: A team of launched and coordinated Unmanned aerial vehicles (UAVs), requires advanced technologies in sensing, communication, computing, and control to improve their intelligence and robustness towards autonomous operations. To enhance reliability, robustness, and mission capability of a team of UAVs, a system-oriented and holistic approach is desirable in which all components and subsystems are considered in terms of their roles and impact on the entire system. This volume aims to summarize the recent progress, identify challenges and opportunities, and develop new methodologies and systems on coordinated UAV control. A group of experts working in this area have contributed to this volume in several related aspects of autonomous control of networked UAVs. Their papers introduce new control methodologies, algorithms, and systems that address several important issues in developing intelligent, autonomous or semi-autonomous, networked systems for the next generation of UAVs. The papers share a common focus on improved coordination of the members of the networked system to accomplish a common mission, to achieve heightened capability in system reconfiguration to compensate for lost members or connections, and to enhance robustness against terrain complications and attacks.
