@inproceedings{f3f6c987750540e5877a9840939526f2,
title = "Optimal motion primitives for multi-UAV convoy protection",
abstract = "In this paper we study the problem of controlling a number of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius. This paper first presents time-optimal paths for providing convoy protection to static ground vehicles. Then this paper addresses paths and control strategies to provide convoy protection to ground vehicles moving on a straight line. Minimum numbers of UAVs required to provide perpetual convoy protection for both cases are derived.",
author = "A. Rahmani and Ding, {X. C.} and M. Egerstedt",
year = "2010",
month = aug,
day = "26",
doi = "10.1109/ROBOT.2010.5509221",
language = "English (US)",
isbn = "9781424450381",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "4469--4474",
booktitle = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010",
note = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",
}