Coordinated target assignment and intercept for unmanned air vehicles

Presents an end-to-end solution to the cooperative control problem represented by the scenario where M unmanned air vehicles (UAVs) are assigned to transition through N known target locations in the presence of dynamic threats. The problem is decomposed into the subproblems of: 1) cooperative target assignment; 2) coordinated UAV intercept; 3) path planning; 4) feasible trajectory generation; and 5) asymptotic trajectory following. The design technique is based on a hierarchical approach to coordinated control. Simulation results are presented to demonstrate the effectiveness of the approach.

[1]  Rainer E. Burkard,et al.  Selected topics on assignment problems , 2002, Discret. Appl. Math..

[2]  Byung Kook Kim,et al.  Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections , 2001, IEEE Trans. Robotics Autom..

[3]  Wilfried Brauer,et al.  Task Assignment in Multiagent Systems Based on Vickrey-Type Auctioning and Leveled Commitment Contracting , 2000, CIA.

[4]  P. Gács,et al.  Algorithms , 1992 .

[5]  R. Murray,et al.  Real‐time trajectory generation for differentially flat systems , 1998 .

[6]  Richard M. Murray,et al.  Real Time Trajectory Generation for Differentially Flat Systems , 1996 .

[7]  R. Beard,et al.  TRAJECTORY PLANNING FOR COORDINATED RENDEZVOUS OF UNMANNED AIR VEHICLES , 2000 .

[8]  Florent Lamiraux,et al.  Motion planning and control for Hilare pulling a trailer , 1999, IEEE Trans. Robotics Autom..

[9]  Wynn C. Stirling,et al.  Satisficing Games , 1999, Inf. Sci..

[10]  Timothy W. McLain,et al.  Cooperative control of UAV rendezvous , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[11]  Francesco Martinelli,et al.  Robot group formations: a dynamic programming approach for a shortest path computation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Mark de Berg,et al.  Computational geometry: algorithms and applications , 1997 .

[13]  Wynn C. Stirling,et al.  Conditional preferences for social systems , 2001, 2001 IEEE International Conference on Systems, Man and Cybernetics. e-Systems and e-Man for Cybernetics in Cyberspace (Cat.No.01CH37236).

[14]  Martin Grötschel,et al.  Frequency assignment in cellular phone networks , 1998, Ann. Oper. Res..

[15]  R. Murray,et al.  Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities , 2000 .

[16]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[17]  Mark B. Milam,et al.  A new computational approach to real-time trajectory generation for constrained mechanical systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[18]  Wynn C. Stirling,et al.  A HIERARCHICAL COORDINATION SCHEME FOR SATELLITE FORMATION INITIALIZATION , 1998 .

[19]  Wynn C. Stirling,et al.  Model predictive satisficing fuzzy logic control , 1999, IEEE Trans. Fuzzy Syst..

[20]  John D'Azzo,et al.  Close formation flight control , 1999 .

[21]  Wynn C. Stirling,et al.  A theory of satisficing decisions and control , 1998, IEEE Trans. Syst. Man Cybern. Part A.

[22]  R. Sedgewick,et al.  Algorithms (2nd ed.) , 1988 .

[23]  Wright-Patterson Afb,et al.  UAV Cooperative Path Planning , 2000 .

[24]  David Eppstein,et al.  Finding the k Shortest Paths , 1999, SIAM J. Comput..

[25]  Gerard S. Schkolnik,et al.  Autonomous Formation Flight , 2004 .

[26]  Daniel J. Stilwell,et al.  Platoons of underwater vehicles , 2000 .

[27]  Manuela M. Veloso,et al.  Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork , 1999, Artif. Intell..

[28]  Panos M. Pardalos,et al.  A Greedy Randomized Adaptive Search Procedure for the Quadratic Assignment Problem , 1993, Quadratic Assignment and Related Problems.