Abstract
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.
| Original language | English (US) |
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| Title of host publication | 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 |
| Publisher | IEEE Computer Society |
| ISBN (Print) | 9789639799516 |
| DOIs | |
| State | Published - Jan 1 2009 |
| Event | 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 - Odense, Denmark Duration: Mar 31 2009 → Apr 2 2009 |
Publication series
| Name | 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 |
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Other
| Other | 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 |
|---|---|
| Country | Denmark |
| City | Odense |
| Period | 3/31/09 → 4/2/09 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Software
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Cite this
Ding, X. C., Rahmani, A., & Egerstedt, M. (2009). Optimal multi-UAV convoy protection. In 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 [4957480] (2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009). IEEE Computer Society. https://doi.org/10.4108/icst.robocomm2009.5867