UAV Formation Shape Control via Decentralized Markov Decision Processes

Abstract

In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms.

Threats from and Countermeasures for Unmanned Aerial and Underwater Vehicles

“…The central controller can be on the ground, a UAV in the swarm, or a manned aerial vehicle. UAV swarms can adopt different shapes in the air [ 32 ] and can be equipped with the ability to integrate and disintegrate in the air when required. UAV swarms can be used as airborne assets that can provide better situational awareness [ 33 ].…”

“…UAV swarms can adopt different shapes in the air [ 32 ] and can be equipped with the ability to integrate and disintegrate in the air when required.…”

Business Prospect of Recycling Household Wastage: A Study on Gopalganj District of Bangladesh

“…The combination of cost structure & revenue structure model is given below which will provide the reader clearidea to understand the calculation. The profit can be fluctuated on the change on business performance (Azam et al, 2021). Here the author tries to give the general view of profitability.…”

Strategic Growth of Everything-as-a-Service (XaaS) Business Model Transformation

“…Researchers have reported that XaaS can reduce data warehousing problems as well as problems with the use of cloud-based environments and thus address the problem of vendor locking (Chimakurthi, 2021b). In addition, it simplifies the decision-making process using a framework designed to move cloud-enabled applications from one cloud to another and provides basic ways to help organizations find the best cloud provider in the market place (Azam et al, 2021). One study said that XaaS provides more efficient network performance and its ability to achieve flexible behavior for service providers and demanders (Bano et al, 2019).…”