Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination

In this paper, we study the problem of controlling a group of unmanned aerial vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant altitude with bounded turning radius. We first present time-optimal paths to provide convoy protection to stationary ground vehicles. Then, we propose a control strategy to provide convoy protection to ground vehicles moving in straight lines. The minimum number of UAVs required to provide perpetual convoy protection, in both cases, are derived.