Modeling and Analysis of Cooperative Control Systems for Uninhabited Autonomous Vehicles

  • Jorge Finke
  • Kevin M. Passino
  • Sriram Ganapathy
  • Andrew Sparks
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 309)

Abstract

A mathematical model is developed for the study of cooperative control problems for multiple uninhabited autonomous vehicles (UAVs). This model includes a representation for the vehicles, environment, and communication network. Then, we introduce a simple integer programming (IP) approach that allows the UAVs to cooperatively decide where to go, and compare it with a strategy with no cooperation between vehicles. The main contribution here is the model, its representation of the many challenges presented in cooperative control, and the analysis methodology, where there is a focus on verification of closed-loop system properties and identi.cation of principles and design trade-offs.

Authors and Affiliations

  • Jorge Finke
    • 1
  • Kevin M. Passino
    • 1
  • Sriram Ganapathy
    • 1
  • Andrew Sparks
    • 2
  1. 1.Dept. Electrical Engineering, The Ohio State University, 2015 Neil Avenue, Columbus, OH 43212-1272 
  2. 2.AFRL/VACA, 2210 8th Street, Wright Patterson AFB, OH 45433-7531 

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