Decentralized redistribution for cooperative patrol

Moore, Brandon J.; Passino, K.M.

doi:10.1002/rnc.1192

Cited by 9 publications

(3 citation statements)

References 13 publications

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“…Moore and Passino [70] address the problem of enabling a group of autonomous vehicles to effectively patrol an environment much larger than their communication and sensing radii. The formulation uses an a priori spatial decomposition of the environment into smaller areas in order to provide a framework for vehicle distribution, and a distributed cooperative control algorithm that transfers vehicles between these areas based on only local information.…”

Section: Level 5 -Group Co-ordinationmentioning

confidence: 99%

“…Group co-ordination in decentralized setting is addressed in reference [70] and the decentralized task allocation is discussed in reference [61]. It is expected that researchers will start addressing problems related to levels 6 and 7 in a decentralized framework after achieving sufficient technology maturity in centralized setting.…”

Section: Level 8 -Decentralized Mission Controlmentioning

confidence: 99%

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Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

Suresh

Ghose

2010

Proceedings of the Institution of Mechanical Engineers, Part G:

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Autonomous mission control, unlike automatic mission control which is generally pre-programmed to execute an intended mission, is guided by the philosophy of carrying out a complete mission on its own through online sensing, information processing, and control reconfiguration. A crucial cornerstone of this philosophy is the capability of intelligence and of information sharing between unmanned aerial vehicles (UAVs) or with a central controller through secured communication links. Though several mission control algorithms, for single and multiple UAVs, have been discussed in the literature, they lack a clear definition of the various autonomous mission control levels. In the conventional system, the ground pilot issues the flight and mission control command to a UAV through a command data link and the UAV transmits intelligence information, back to the ground pilot through a communication link. Thus, the success of the mission depends entirely on the information flow through a secured communication link between ground pilot and the UAV. In the past, mission success depended on the continuous interaction of ground pilot with a single UAV, while present day applications are attempting to define mission success through efficient interaction of ground pilot with multiple UAVs. However, the current trend in UAV applications is expected to lead to a futuristic scenario where mission success would depend only on interaction among UAV groups with no interaction with any ground entity. However, to reach this capability level, it is necessary to first understand the various levels of autonomy and the crucial role that information and communication plays in making these autonomy levels possible. This article presents a detailed framework of UAV autonomous mission control levels in the context of information flow and communication between UAVs and UAV groups for each level of autonomy.

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Section: Level 5 -Group Co-ordinationmentioning

confidence: 99%

Section: Level 8 -Decentralized Mission Controlmentioning

confidence: 99%

Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

Suresh

Ghose

2010

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…The field of classical search theory, addressing the problem of optimal search for static or mobile targets, has been extensively studied for over seven decades, since the groundbreaking research of Koopman [4], through the seminal works of Washburn [5] and Stone [6], to the recent surge in publications; for example see [7][8][9][10][11][12][13][14][15][16][17][18][19]. The problem of coordinating search and interception-the topic of this paper-is more involved.…”

Section: Introductionmentioning

confidence: 99%

The eye and the fist: Optimizing search and interdiction

Kress

Røyset

Rozen

2012

European Journal of Operational Research

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Abstract. Interdiction operations involving search, identification, and interception of suspected objects are of great interest and high operational importance to military and naval forces as well as nation's coast guards and border patrols. The interdiction scenario discussed in this paper includes an area of interest with multiple neutral and hostile objects moving through this area, and an interdiction force, consisting of an airborne sensor and an intercepting surface vessel or ground vehicle, whose objectives are to search, identify, track, and intercept hostile objects within a given time frame. The main contributions of this paper are addressing both airborne sensor and surface vessel simultaneously, developing a stochastic dynamic-programming model for optimizing their employment, and deriving operational insight. In addition, the search and identification process of the airborne sensor addresses both physical (appearance) and behavioral (movement pattern) signatures of a potentially hostile object. As the model is computationally intractable for real-world scenarios, we propose a simple heuristic policy, which is shown, using a bounding technique, to be quite effective. Based on a numerical case study of maritime interdiction operations, which includes several representative scenarios, we show that the expected number of intercepted hostile objects, following the heuristic decision policy, is at least 60% of the number of hostile objects intercepted following an optimal decision policy.

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Distributed Coordination Strategies for Wide-Area Patrol

Moore

Passino

2009

J Intell Robot Syst

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Decentralized redistribution for cooperative patrol

Cited by 9 publications

References 13 publications

Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

Role of information and communication in redefining unmanned aerial vehicle autonomous control levels

The eye and the fist: Optimizing search and interdiction

Distributed Coordination Strategies for Wide-Area Patrol

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