Information-theoretic approach to decentralized control of multiple autonomous flight vehicles

Ben P. Grocholsky; Hugh F. Durrant-Whyte; Peter W. Gibbens

doi:10.1117/12.403734

16 October 2000 Information-theoretic approach to decentralized control of multiple autonomous flight vehicles

Ben P. Grocholsky, Hugh F. Durrant-Whyte, Peter W. Gibbens

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403734
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Decentralized systems require no central controller or center where information is fused or commands generated. Information theoretic ideas have been previously used to develop optimal fusion algorithms for decentralized sensing and data fusion systems. The work described in this paper aims to develop equivalent algorithms for the control of decentralized systems. The methods and algorithms described center on the use of mutual information gain as a measure in choosing control actions. Two example problems are described; area coverage for purposes of surveillance and navigation, and sensor management for cuing and hand-off operations. The motivation for this work is the control of multiple unmanned air vehicles (UAVs).

Citation Download Citation

Ben P. Grocholsky, Hugh F. Durrant-Whyte, and Peter W. Gibbens "Information-theoretic approach to decentralized control of multiple autonomous flight vehicles", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403734

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