By Topic

Coordination and control of multiple UAVs with timing constraints and loitering

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Alighanbari, M. ; Space Syst. Lab., Massachusetts Inst. of Technol., USA ; Kuwata, Y. ; How, J.P.

This paper describes methods for optimizing the task allocation problem for a fleet of unmanned aerial vehicles (UAVs) with tightly coupled tasks and rigid relative timing constraints. The overall objective is to minimize the mission completion time for the fleet, and the task assignment must account for differing UAV capabilities and no-fly zones. Loitering times are included as extra degrees of freedom in the problem to help meet the timing constraints. The overall problem is formulated using mixed-integer linear programming (MILP), which gives the globally optimal solution. An approximate decomposition solution method is also used to overcome the computational issues that arise when using MILP for larger problems. The problem is also posed in a way that can be solved using Tabu search. This approach is demonstrated to provide good solutions in reasonable computation times for large problems that are very difficult to solve using the exact or approximate decomposition methods.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:6 )

Date of Conference:

4-6 June 2003