Heterogeneous Unmanned Aerial Vehicle (UAV) swarms offer unique opportunities for solving multi-robot missions, but also introduce novel implementation challenges. In our study, we develop Heterogeneous Decentralized Receding Horizon Control (HD-RHC) for swarm management in search & rescue missions. This new technique builds upon existing multiagent UAV work, but adds the capacity to manage a fleet of heterogeneous, diverse robot platforms that are equipped for different mission capabilities. Through high-fidelity simulation (AirSim), we derive an optimal controller, develop a method to find optimal weights for a specific mission focus, and provide a path to physical system validation. We analyze the efficiency and performance of HD-RHC controller, and discuss different ways this new method can be integrated into mission-management scenarios.


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    Title :

    Optimal Control Techniques for Heterogeneous UAV Swarms


    Contributors:
    Mian, Sami (author) / Hill, John (author) / Mao, Zhi-Hong (author)


    Publication date :

    2020-10-11


    Size :

    1927838 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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