TY - GEN
T1 - Optimal multi-UAV convoy protection
AU - Ding, X. C.
AU - Rahmani, A.
AU - Egerstedt, M.
PY - 2009/1/1
Y1 - 2009/1/1
N2 - In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant altitude. Due to kinematic constraints of the UAVs, it is not possible for a single UAV to provide convoy protection indefinitely. In this paper, we derive time-optimal paths for a single UAV to provide continuous ground convoy protection for the longest possible time. Furthermore, this paper provides optimal trajectories for multiple UAVs to achieve uninterrupted convoy protection. The minimum number of UAVs required to achieve this task is determined.
AB - In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant altitude. Due to kinematic constraints of the UAVs, it is not possible for a single UAV to provide convoy protection indefinitely. In this paper, we derive time-optimal paths for a single UAV to provide continuous ground convoy protection for the longest possible time. Furthermore, this paper provides optimal trajectories for multiple UAVs to achieve uninterrupted convoy protection. The minimum number of UAVs required to achieve this task is determined.
UR - http://www.scopus.com/inward/record.url?scp=69849103753&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69849103753&partnerID=8YFLogxK
U2 - 10.4108/icst.robocomm2009.5867
DO - 10.4108/icst.robocomm2009.5867
M3 - Conference contribution
AN - SCOPUS:69849103753
SN - 9789639799516
T3 - 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
BT - 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
PB - IEEE Computer Society
T2 - 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
Y2 - 31 March 2009 through 2 April 2009
ER -