This article presents a review and a novel approach to the decentralized path planning and task assignment for multiple cooperative unmanned air systems, in multiple target, and multiple task environment. The vehicles (or agents) may have complete or partial a priori information about the targets that populate the scenario. Each vehicle autonomously computes the cost for servicing each task available at each target using a path planning algorithm, taking into account obstacles, pop-up threats, and weights the total path cost including potential risk areas. Vehicles assign an initial ranking to each task, and then exchange their ranking information with the others. Each agent then updates the ranking of its tasks using a non-linear dynamic programming algorithm that is proven to be stable and to converge to an equilibrium point where each vehicle is assigned to a different task. The ranking dynamics is initially formulated as a continuous time system, and then time-discretized depending on available data, and transmission rate among the network. Stability of the network and independence of steady-state values from the data rate are evaluated analytically, and via simulation.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative path planning and task assignment for unmanned air vehicles


    Additional title:

    Kooperative Flugbahnplanung und Aufgabenzuordnung bei unbemannten Luftfahrzeugen


    Contributors:
    Innocenti, M. (author) / Pollini, L. (author) / Bracci, A. (author)


    Publication date :

    2010


    Size :

    11 Seiten, 9 Bilder, 1 Tabelle, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Cooperative path planning and task assignment for unmanned air vehicles

    Innocenti, M / Pollini, L / Bracci, A | SAGE Publications | 2010




    Cooperative path planning of unmanned aerial vehicles

    Tsourdos, Antonios / White, Brian / Shanmugavel, Madhavan | TIBKAT | 2011