Optimal multi-UAV convoy protection

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
PublisherIEEE Computer Society
ISBN (Print)9789639799516
DOIs
StatePublished - Jan 1 2009
Event2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009 - Odense, Denmark
Duration: Mar 31 2009Apr 2 2009

Publication series

Name2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009

Other

Other2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009
CountryDenmark
CityOdense
Period3/31/094/2/09

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