Cooperative scheduling of tasks for networked uninhabited autonomous vehicles

Gil, A.E.; Passino, K.M.; Ganapathy, Sriram; Sparks, Andrew G.

doi:10.1109/cdc.2003.1272616

Cited by 42 publications

(29 citation statements)

References 14 publications

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“…The task assignment problem in this form has received considerable attention (see [19], [20], [21], [22], [23]). However, the vehicle health state is not incorporated into these formulations.…”

Section: Task Assignment With Health Constraintsmentioning

confidence: 99%

Embedding Health Management into Mission Tasking for UAV Teams

Valenti

Bethke

How

et al. 2007

2007 American Control Conference

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Abstract-Coordinated multi-vehicle autonomous systems can provide incredible functionality, but off-nominal conditions and degraded system components can render this capability ineffective. This paper presents techniques to improve missionlevel functional reliability through better system self-awareness and adaptive mission planning. In particular, we extend the traditional definition of health management, which has historically referred to the process of actively monitoring and managing vehicle sub-systems (e.g., avionics) in the event of component failures, to the context of multiple vehicle operations and autonomous multi-agent teams. In this case, health management information about each mission system component is used to improve the mission system's self-awareness and adapt vehicle, guidance, task and mission plans. This paper presents the theoretical foundations of our approach and recent experimental results on a new UAV testbed.

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Section: Task Assignment With Health Constraintsmentioning

confidence: 99%

Embedding Health Management into Mission Tasking for UAV Teams

Valenti

Bethke

How

et al. 2007

2007 American Control Conference

View full text Add to dashboard Cite

show abstract

“…Variations of problems falling in this class have been studied in a number of papers in the recent past, e.g., see [1], [2], [3], [4]. In these papers, the problem is set up in such a way that the location of targets is known a priori and a strategy is computed that attempts to optimize the coverage cost of servicing the known targets.…”

Section: Introductionmentioning

confidence: 99%

The coverage problem for loitering Dubins vehicles

Savla

Bullo

2007

2007 46th IEEE Conference on Decision and Control

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Abstract-In this paper we study a facility location problem for groups of Dubins vehicles, i.e., nonholonomic vehicles that are constrained to move along planar paths of bounded curvature, without reversing direction. Given a compact region and a group of Dubins vehicles, the coverage problem is to minimize the worst-case traveling time from any vehicle to any point in the region. Since the vehicles cannot hover, we assume that they fly along static closed curves called loitering curves. The paper presents circular loitering patterns for a Dubins vehicle and for a group of Dubins vehicles that minimize the worst-case traveling time in sufficiently large regions. We do this by establishing an analogy to the disk covering problem.

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“…While considerable progress has been made on cooperative control of networks of homogeneous vehicles (see for example [2][3][4][5]), heterogeneous networks are still relatively poorly understood. In such a direction, recent efforts (see e.g.…”

mentioning

confidence: 99%

Traveling Salesman Problem for a Class of Carrier-Vehicle Systems

Garone

Naldi

Casavola

2011

Journal of Guidance, Control, and Dynamics

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This work addresses a Traveling Salesman Problem for a class of systems composed of two cooperating vehicles with different capabilities. The first one, the carrier, is typically slow but has a virtually infinite operating range. Its primary role is to deploy and recover a second vehicle, typically an aircraft, which is faster but has a reduced operating range. The synergistic use of the above carrier-vehicle system is exploited in addressing a scenario in which the goal is to make the faster vehicle visit in the shortest time a given collection of targets. After a careful analysis of the problem, a sub-optimal heuristic is presented and its properties are discussed.

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Cooperative scheduling of tasks for networked uninhabited autonomous vehicles

Cited by 42 publications

References 14 publications

Embedding Health Management into Mission Tasking for UAV Teams

Embedding Health Management into Mission Tasking for UAV Teams

The coverage problem for loitering Dubins vehicles

Traveling Salesman Problem for a Class of Carrier-Vehicle Systems

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