期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 24, 期 6, 页码 1394-1404出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.2007935
关键词
Cooperative control; coordination variables; decentralized algorithms; perimeter surveillance; small unmanned aerial vehicles (UAVs)
类别
资金
- National Aeronautics and Space Administration [NNA04AA19C]
- National Science Foundation [CCR-0313056]
- United States Air Force [FA9550-04-1-0209]
This paper poses the cooperative perimeter-surveillance problem and offers a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is required for accurate performance. Simulation and hardware results are presented that demonstrate the applicability of the solution.
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