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Proceedings Paper

Information-theoretic approach to decentralized control of multiple autonomous flight vehicles
Author(s): Ben P. Grocholsky; Hugh F. Durrant-Whyte; Peter W. Gibbens
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Paper Abstract

Decentralized systems require no central controller or center where information is fused or commands generated. Information theoretic ideas have been previously used to develop optimal fusion algorithms for decentralized sensing and data fusion systems. The work described in this paper aims to develop equivalent algorithms for the control of decentralized systems. The methods and algorithms described center on the use of mutual information gain as a measure in choosing control actions. Two example problems are described; area coverage for purposes of surveillance and navigation, and sensor management for cuing and hand-off operations. The motivation for this work is the control of multiple unmanned air vehicles (UAVs).

Paper Details

Date Published: 16 October 2000
PDF: 12 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403734
Show Author Affiliations
Ben P. Grocholsky, Univ. of Sydney (Australia)
Hugh F. Durrant-Whyte, Univ. of Sydney (Australia)
Peter W. Gibbens, Univ. of Sydney (Australia)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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