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Proceedings Paper

A receding horizon approach for dynamic UAV mission management
Author(s): Christos G. Cassandras; Wei Li
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Paper Abstract

We consider a setting where multiple UAVs form a team cooperating to visit multiple targets to collect rewards associated with them. The team objective is to maximize the total reward accumulated over a given time interval. Complicating factors include uncertainties regarding the locations of targets and the effectiveness of collecting rewards, differences among vehicle capabilities, and the fact that rewards are time-varying. We describe a Receding Horizon (RH) control scheme which dynamically assigns vehicles to targets and simultaneously determines associated trajectories. This scheme is based on solving a sequence of optimization problems over a planning horizon and executing them over a shorter action horizon. We also describe a simulated battlespace environment designed to test UAV team missions and to illustrate how the RH scheme can achieve optimal performance with high probability.

Paper Details

Date Published: 4 September 2003
PDF: 10 pages
Proc. SPIE 5091, Enabling Technologies for Simulation Science VII, (4 September 2003); doi: 10.1117/12.498165
Show Author Affiliations
Christos G. Cassandras, Boston Univ. (United States)
Wei Li, Boston Univ. (United States)


Published in SPIE Proceedings Vol. 5091:
Enabling Technologies for Simulation Science VII
Alex F. Sisti; Dawn A. Trevisani, Editor(s)

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