Optimal motion primitives for multi-UAV convoy protection

A. Rahmani; X. C. Ding; M. Egerstedt

doi:10.1109/ROBOT.2010.5509221

Optimal motion primitives for multi-UAV convoy protection

A. Rahmani, X. C. Ding, M. Egerstedt

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

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.

Original language	English (US)
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	4469-4474
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509221
State	Published - Aug 26 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2010.5509221

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Cite this

Rahmani, A., Ding, X. C., & Egerstedt, M. (2010). Optimal motion primitives for multi-UAV convoy protection. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 4469-4474). [5509221] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509221

Rahmani, A, Ding, XC & Egerstedt, M 2010, Optimal motion primitives for multi-UAV convoy protection. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509221, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4469-4474, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509221

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