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2nd International ICST Conference on Robot Communication and Coordination

Research Article

Optimal Multi-UAV Convoy Protection

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  • @INPROCEEDINGS{10.4108/ICST.ROBOCOMM2009.5867,
        author={X. C. Ding and A. Rahmani and M. Egerstedt},
        title={Optimal Multi-UAV Convoy Protection},
        proceedings={2nd International ICST Conference on Robot Communication and Coordination},
        proceedings_a={ROBOCOMM},
        year={2009},
        month={5},
        keywords={},
        doi={10.4108/ICST.ROBOCOMM2009.5867}
    }
    
  • X. C. Ding
    A. Rahmani
    M. Egerstedt
    Year: 2009
    Optimal Multi-UAV Convoy Protection
    ROBOCOMM
    ICST
    DOI: 10.4108/ICST.ROBOCOMM2009.5867
X. C. Ding, A. Rahmani, M. Egerstedt

    Abstract

    In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant altitude. Due to kinematic constraints of the UAVs, it is not possible for a single UAV to provide convoy protection indefinitely. In this paper, we derive time-optimal paths for a single UAV to provide continuous ground convoy protection for the longest possible time. Furthermore, this paper provides optimal trajectories for multiple UAVs to achieve uninterrupted convoy protection. The minimum number of UAVs required to achieve this task is determined.

    Published
    2009-05-19
    Modified
    2010-05-16
    http://dx.doi.org/10.4108/ICST.ROBOCOMM2009.5867
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