Abstract
This paper proposes a distributed estimation and control strategy for cooperative monitoring by swarms of unmanned aerial vehicles (UAVs) modeled as constant-speed unicycles. The geometric moments, encoding an abstraction of the swarm, are controlled via a nonlinear gradient descent to match those of a discrete set of particles describing the occurrence of some event of interest to be monitored. Because of its limited sensing capabilities, each agent can measure the position of only a subset of the overall particles, from which it locally estimates the desired moments of the swarm running a proportional-integral (PI) average consensus estimator. The closed-loop stability of the system arising from the combination of the gradient-descent controllers and the consensus estimators is studied and simulation results are provided to illustrate the proposed theory.
| Original language | English (US) |
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| Title of host publication | Proceedings of the 2011 American Control Conference, ACC 2011 |
| Pages | 1069-1075 |
| Number of pages | 7 |
| State | Published - Sep 29 2011 |
| Event | 2011 American Control Conference, ACC 2011 - San Francisco, CA, United States Duration: Jun 29 2011 → Jul 1 2011 |
Other
| Other | 2011 American Control Conference, ACC 2011 |
|---|---|
| Country/Territory | United States |
| City | San Francisco, CA |
| Period | 6/29/11 → 7/1/11 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering