Cooperative controls with intermittent communication

Dan Shen; Genshe Chen; Jose B. Cruz Jr.; Khanh Pham; Erik Blasch; Robert Lynch

doi:10.1117/12.849786

7 May 2010 Cooperative controls with intermittent communication

Dan Shen, Genshe Chen, Jose B. Cruz Jr., Khanh Pham, Erik Blasch, Robert Lynch

Proceedings Volume 7691, Space Missions and Technologies; 76910D (2010) https://doi.org/10.1117/12.849786
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

In this paper, we propose a solution to the cooperative path planning with limited communication problem in two phases. In the first (offline) phase, a Pareto-optimal path problem is formulated to find a reference path and the graph cuts minimization method is used to speedily calculate the optimal solution. In the second (online) phase, a foraging algorithm is used to dynamically refine the reference path to meet the dynamic constraints of unmanned aerial vehicle (UAVs), during which an open-loop feedback optimal (OLFO) controller is used to estimate the states which may be unavailable due to infrequent battlefield information updates. Furthermore, an adaptive Markov decision process is proposed to deal with intermittent asynchronous information flow. The method is demonstrated in a simulation for a swarm of Unmanned Air Vehicle (UAV) teams with various communication ranges.

Citation Download Citation

Dan Shen, Genshe Chen, Jose B. Cruz Jr., Khanh Pham, Erik Blasch, and Robert Lynch "Cooperative controls with intermittent communication", Proc. SPIE 7691, Space Missions and Technologies, 76910D (7 May 2010); https://doi.org/10.1117/12.849786

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