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Proceedings Paper

Cooperative controls with intermittent communication
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Paper Abstract

In this paper, we propose a solution to the cooperative path planning with limited communication problem in two phases. In the first (offline) phase, a Pareto-optimal path problem is formulated to find a reference path and the graph cuts minimization method is used to speedily calculate the optimal solution. In the second (online) phase, a foraging algorithm is used to dynamically refine the reference path to meet the dynamic constraints of unmanned aerial vehicle (UAVs), during which an open-loop feedback optimal (OLFO) controller is used to estimate the states which may be unavailable due to infrequent battlefield information updates. Furthermore, an adaptive Markov decision process is proposed to deal with intermittent asynchronous information flow. The method is demonstrated in a simulation for a swarm of Unmanned Air Vehicle (UAV) teams with various communication ranges.

Paper Details

Date Published: 8 May 2010
PDF: 11 pages
Proc. SPIE 7691, Space Missions and Technologies, 76910D (8 May 2010); doi: 10.1117/12.849786
Show Author Affiliations
Dan Shen, DCM Research Resources, LLC (United States)
Genshe Chen, DCM Research Resources, LLC (United States)
Jose B. Cruz, The Ohio State Univ. (United States)
Khanh Pham, Air Force Research Lab. (United States)
Erik Blasch, Air Force Research Lab. (United States)
Robert Lynch, Naval Undersea Warfare Ctr. (United States)


Published in SPIE Proceedings Vol. 7691:
Space Missions and Technologies
Joseph Lee Cox; Manfred G. Bester; Wolfgang Fink, Editor(s)

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