ICUAS 2019 Paper Abstract

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Paper WeA2.3

Ma, Lili (New York City College of Technology)

Cooperative Target Tracking by Altering UAVs' Linear and Angular Velocities

Scheduled for presentation during the Regular Session "Swarms I" (WeA2), Wednesday, June 12, 2019, 10:40−11:00, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Networked Swarms, Swarms

Abstract

This paper addresses cooperative target tracking of a moving ground vehicle using a fleet of unmanned aerial vehicles (UAVs). This work extends our earlier results on two aspects. First, a different formation pattern, i.e., a uniform spacing formation, is incooperated into the cooperative target tracking task. Different from the balanced circular formation achieved earlier where all UAVs spread evenly over a circle, all UAVs can now spread evenly over a portion of a circle, instead of the full circle. The second extension is regarding how formations are achieved. In our past work, cooperative target tracking was obtained by altering each UAV's yaw rate, while each UAV's linear velocity was assumed to be constant. In the proposed new approach, tracking is still achieved by altering each UAV's yaw rate. Formation, on the other hand, is obtained by adjusting each UAV's linear velocity. Both the balanced circular formation and the uniform spacing formation can be obtained by either approach. Matlab simulations are presented to show the effectiveness of these two approaches in achieving both formations.

 

 

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