The Demonstration of a Cooperative Control Architecture for UAV Teams

Underwater Robot Swarms: Challenges and Opportunities

“…Fixed-wing aeroplane architectures are widely spread in robotics thanks to their simple mechanical design and energetic efficiency when it comes to travelling relatively long distances (Tennekes, 1997). Most military unmanned aerial vehicles (UAV) fall into this category and several research projects involving a fleet of fixed-wing UAVs have been successfully carried out (Allred et al, 2007;Beard et al, 2006;Cole et al, 2006;How et al, 2004). The use of no-tail or flying-wing geometries (Fig.…”

“…Several strategies have been devised to search for areas of interest in an environment with applications in the detection of chemical plumes (Kovacina et al, 2002;Lawrence et al, 2004;Oyekan and Huosheng, 2009;Zarzhitsky and Spears, 2005), wild fires (Gancet et al, 2005;Merino et al, 2006), victims (Kuiper and NadjmTehrani, 2006;Murphy et al, 2008), objects (Stirling et al, 2010) and other targets of interest (Altshuler et al, 2008;Cole et al, 2006;Ruini and Cangelosi, 2009;Sauter et al, 2005;Yang et al, 2005).…”

Decentralized Control of Unmanned Aerial Vehicle Collaborative Sensing Missions

“…Similarly to the robust decentralized task assignment method, we explicitly acknowledge limited communication and information consensus issues and allow UAVs to exchange plans in addition to state estimates. Sensing missions with UAV teams have also been demonstrated at the University of Pennsylvania GRASP Laboratory [7] and the Australian Center for Field Robotics [8].…”

Particle filter based information-theoretic active sensing

“…Parametric estimators such as the extended Kalman filter allow simple modeling of the relationship between platform motion and estimate state, resulting in computationally inexpensive information seeking control [2][3][4][5]. However, the extended Kalman filter approximates the conditional density as a Gaussian distribution, which is not always appropriate.…”