ICUAS'17 Paper Abstract

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Paper ThC3.5

Fehr, Ric (University of Nevada, Reno), Boles, Kevin (University of Nevada, Reno), Jafari, Mohammad (University of Nevada, Reno), Xu, Hao (University of Nevada, Reno), GARCIA CARRILLO, Luis Rodolfo (Texas A&M University - Corpus Christi)

A Low-Computation Distributed Connectivity Control for Coordinated Multi-UAS

Scheduled for presentation during the "UAS Communications" (ThC3), Thursday, June 15, 2017, 17:00−17:20, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords UAS Communications, Swarms, Autonomy

Abstract

Multi-UAS (MAS) flocking requires multiple controllers with connected communication topologies. Real-time deployment of multi-agents is commonly associated with dynamic communication topologies, which has been considered as a challenging topic. This paper proposes a novel low-computation distributed connectivity control method to generate connected communication topologies and maintain the connectivity for coordinated multi-UAS. Considering the real-time communication imperfections, the communication links among multi-UAS have been priced. In addition, a multi-UAS communication price matrix has been generated. The proposed method cannot only maintain the connectivity of multi-UAS and also minimize the communication price in a distributed manner. Furthermore, proposed method is also very flexible and can be applied to multi-UAS with varying number of agents. Both numerical simulation and experiment results results demonstrate the effectiveness of the proposed low computation distributed connectivity control. It is very promising for a wide range of applications where multi-UAS will greatly aid missions such as those expected to be performed by team of cooperative UAS, e.g. search and rescue, surveillance, vehicle tracking, and MAS-based load delivery.

 

 

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