Keywords
perimeter surveillance, unmanned aircraft, UAV, decentralized control
Abstract
This paper poses the cooperative perimeter-surveillance problem and offers a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is required for accurate performance. Simulation and hardware results are presented that demonstrate the applicability of the solution.
Original Publication Citation
Kingston, D., Holt, R., Beard, R., McLain, T., and Casbeer, D. Decentralized Perimeter Surveillance Using a Team of UAVs, Proceedings of the AIAA Guidance, Navigation, and Control Conference, AIAA 2005-5831, August 2005, San Francisco, California.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randal W.; Kingston, Derek; Holt, Ryan S.; and Casbeer, David W., "Decentralized Perimeter Surveillance Using a Team of UAVs" (2005). Faculty Publications. 1911.
https://scholarsarchive.byu.edu/facpub/1911
Document Type
Conference Paper
Publication Date
2005-8
Permanent URL
http://hdl.lib.byu.edu/1877/3864
Publisher
IEEE
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/4682728/
Copyright Use Information
http://lib.byu.edu/about/copyright/