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

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3 Author(s)
Xu Chu Ding ; Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Rahmani, A.R. ; Egerstedt, M.

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.

Published in:

Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 2 )

Date of Publication:

April 2010

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