Distributed Balancing of AAVs for Uniform Surveillance Coverage | IEEE Conference Publication | IEEE Xplore

Distributed Balancing of AAVs for Uniform Surveillance Coverage


Abstract:

This paper addresses the problem of enabling a group of autonomous air vehicles to provide surveillance coverage for an area significantly larger than their communication...Show More

Abstract:

This paper addresses the problem of enabling a group of autonomous air vehicles to provide surveillance coverage for an area significantly larger than their communication radius. Our formulation spatially decomposes the overall surveillance mission into subtasks and we develop a distributed cooperative control algorithm that continuously reassigns AAVs to these subtasks based on only local information in order to achieve the most balanced distribution of AAVs possible within a finite time interval of known bound. Various applications are discussed and simulations are included to illustrate convergence dynamics as well as to measure practical performance as a function of problem parameters.
Date of Conference: 15-15 December 2005
Date Added to IEEE Xplore: 30 January 2006
Print ISBN:0-7803-9567-0
Print ISSN: 0191-2216
Conference Location: Seville, Spain

References

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