Optimal multi-UAV convoy protection

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

doi:10.4108/icst.robocomm2009.5867

Optimal multi-UAV convoy protection

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

Mechanical & Aerospace Engineering

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

18 Scopus citations

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)
Title of host publication	2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
Publisher	IEEE Computer Society
ISBN (Print)	9789639799516
DOIs	https://doi.org/10.4108/icst.robocomm2009.5867
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

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

Access to Document

10.4108/icst.robocomm2009.5867

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Cite this

Optimal multi-UAV convoy protection. / Ding, X. C.; Rahmani, A.; Egerstedt, M.

2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009. IEEE Computer Society, 2009. 4957480 (2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009).

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

Ding, XC, 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, 2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009, Odense, Denmark, 3/31/09. https://doi.org/10.4108/icst.robocomm2009.5867

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