Information-Based Cooperative Control for Multiple Unmanned Aerial Vehicles

In this paper, we present a distributed control algorithm to locate multiple mobile radio frequency (RF) targets using cooperative unmanned aerial vehicles (UAVs) equipped only with Global Positioning System (GPS) sensors and angle of arrival sensors. The proposed control algorithm considers the number of UAVs involved, sensor schedules, and sensor trajectories to increase the performance of cooperative UAVs localizing ground targets. The UAVs use optimal recursive estimation techniques to minimize target localization errors and differential geometry techniques to generate UAV (sensor) trajectories