Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 18, Issue 6, Pages 911-922Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2002.805653
Keywords
cooperation; multiagent coordination; path planning; trajectory generation; unmanned air vehicles
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This paper 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.
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