TY - GEN
T1 - Parametric control of multiple unmanned air vehicles over an unknown hostile territory
AU - Madhava Krishna, K.
AU - Hexmoor, Henry
AU - Pasupuleti, Subbarao
AU - Llinas, James
PY - 2005
Y1 - 2005
N2 - A methodology for real-time control of unmanned air vehicles (UAV) in the absence of a-priori knowledge of hostile territory is presented. The control methodology generates a sequence of waypoints to be pursued by the UV until the goal is reached. The controller computes the waypoints every time new information is obtained regarding the presence or absence of a hostile agent at a particular grid of the territory. The waypoints are the result of an A* search. The cost function of the search is a weighted combination of dangers arising due to probability of being hit by theattacks of hostile terrestrial agents on the ground and the danger of UAV grounded as a result of its prolonged stay over the hostile territory. The multi-agency in the system is due to the broadcast of newly observed information by an UAV to its remaining counterparts. The sequence of waypoints defines the path of the UAV to its goal. By varying the corresponding weights the paths can be altered to obtain a particular performance criterion. Simulation results are presented for various parametric combinations to validate the methodology.
AB - A methodology for real-time control of unmanned air vehicles (UAV) in the absence of a-priori knowledge of hostile territory is presented. The control methodology generates a sequence of waypoints to be pursued by the UV until the goal is reached. The controller computes the waypoints every time new information is obtained regarding the presence or absence of a hostile agent at a particular grid of the territory. The waypoints are the result of an A* search. The cost function of the search is a weighted combination of dangers arising due to probability of being hit by theattacks of hostile terrestrial agents on the ground and the danger of UAV grounded as a result of its prolonged stay over the hostile territory. The multi-agency in the system is due to the broadcast of newly observed information by an UAV to its remaining counterparts. The sequence of waypoints defines the path of the UAV to its goal. By varying the corresponding weights the paths can be altered to obtain a particular performance criterion. Simulation results are presented for various parametric combinations to validate the methodology.
UR - https://www.scopus.com/pages/publications/33745254476
U2 - 10.1109/KIMAS.2005.1427064
DO - 10.1109/KIMAS.2005.1427064
M3 - Conference contribution
AN - SCOPUS:33745254476
SN - 078039013X
SN - 9780780390133
T3 - 2005 International Conference on Integration of Knowledge Intensive Multi-Agent Systems, KIMAS'05: Modeling, Exploration, and Engineering
SP - 117
EP - 121
BT - 2005 International Conference on Integration of Knowledge Intensive Multi-Agent Systems, KIMAS'05
T2 - 2005 International Conference on Integration of Knowledge Intensive Multi-Agent Systems, KIMAS'05: Modeling, Exploration, and Engineering
Y2 - 18 April 2005 through 21 April 2005
ER -