Consensus-based and network control of UAVs

Author

Jaimes B, Aldo S ; Jamshidi, Mo

Author_Institution

ACE Lab., Univ. of Texas at San Antonio, San Antonio, TX, USA

fYear

2010

fDate

22-24 June 2010

Firstpage

1

Lastpage

6

Abstract

During the past few years, research in the field of cooperative control of swarm of robots and specially UAV has continuously increased. In order to develop research in the field of swarm of UAV this paper identifies three problems: the development of a testbed for UAV, the implementation of an ad hoc network and a protocol based on network control, and a consensus control algorithm for cooperative control of UAV. The testbed currently enables us to perform waypoint navigation using a global positioning system (GPS). The protocol communication designed for the ad hoc network has proved to be reliable for our application and can be expanded to be used with different number of agents. The algorithm of consensus control has been analyzed and tested in simulation. Future work will allow implementing the consensus control as centralized control or distributed control.

Keywords

Global Positioning System; ad hoc networks; aircraft control; distributed control; mobile robots; remotely operated vehicles; ad hoc network; centralized control; consensus control algorithm; distributed control; global positioning system; network control; protocol communication; robot swarm; testbed development; unmanned aerial vehicles; waypoint navigation; Ad hoc networks; Centralized control; Communication system control; Global Positioning System; Navigation; Performance evaluation; Protocols; Robots; System testing; Unmanned aerial vehicles; Consensus Control; Network Control; Swarm; UAV;

fLanguage

English

Publisher

ieee

Conference_Titel

System of Systems Engineering (SoSE), 2010 5th International Conference on

Conference_Location

Loughborough

Print_ISBN

978-1-4244-8197-2

Type

conf

DOI

10.1109/SYSOSE.2010.5544106

Filename

5544106