This paper proposes a distributed estimation and control strategy for cooperative monitoring by swarms of unmanned aerial vehicles (UAVs) modeled as constant-speed unicycles. The geometric moments, encoding an abstraction of the swarm, are controlled via a nonlinear gradient descent to match those of a discrete set of particles describing the occurrence of some event of interest to be monitored. Because of its limited sensing capabilities, each agent can measure the position of only a subset of the overall particles, from which it locally estimates the desired moments of the swarm running a proportional-integral (PI) average consensus estimator. The closed-loop stability of the system arising from the combination of the gradient-descent controllers and the consensus estimators is studied and simulation results are provided to illustrate the proposed theory.


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    Titel :

    Estimation and Control of UAV Swarms for Distributed Monitoring Tasks


    Beteiligte:
    Morbidi, Fabio (Autor:in) / Freeman, Randy A. (Autor:in) / Lynch, Kevin M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011


    Format / Umfang :

    7 Seiten, 19 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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