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Persistent monitoring with a team of autonomous gliders using static soaring | IEEE Conference Publication | IEEE Xplore

Persistent monitoring with a team of autonomous gliders using static soaring


Abstract:

Exploiting wind currents in the environment allows autonomous gliders to gain altitude and energy and consequently extend flight duration. This paper considers the proble...Show More

Abstract:

Exploiting wind currents in the environment allows autonomous gliders to gain altitude and energy and consequently extend flight duration. This paper considers the problem of a persistent monitoring mission using multiple autonomous gliders and exploiting thermal soaring. Communications constraints and non-homogeneous teams of gliders are considered. A distributed method based on coordination variables is proposed to monitor the area in a cooperative manner by following a partitioning patrolling strategy. A distributed one-to-one coordination technique is used to manage the gliders' access to thermals according to their states and known thermal locations. Gliders perform a model-based estimation about their energy losses between thermals to estimate the optimal time to remain in a thermal to maintain persistent surveillance with minimum refresh time. Simulated test results are provided to evaluate how the proposed approach is able to extend the mission while maintaining near-optimal performance.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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