Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments
Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
American Institute of Aeronautics and Astronautics
2010
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| Online Access: | http://hdl.handle.net/1721.1/55960 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826205385234579456 |
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| author | How, Jonathan P. Bertuccelli, Luca F. Choi, Han-Lim Cho, Peter L. |
| author2 | Lincoln Laboratory |
| author_facet | Lincoln Laboratory How, Jonathan P. Bertuccelli, Luca F. Choi, Han-Lim Cho, Peter L. |
| author_sort | How, Jonathan P. |
| collection | MIT |
| description | Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998 |
| first_indexed | 2024-09-23T13:12:11Z |
| format | Article |
| id | mit-1721.1/55960 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:12:11Z |
| publishDate | 2010 |
| publisher | American Institute of Aeronautics and Astronautics |
| record_format | dspace |
| spelling | mit-1721.1/559602022-10-01T13:42:55Z Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments How, Jonathan P. Bertuccelli, Luca F. Choi, Han-Lim Cho, Peter L. Lincoln Laboratory Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. How, Jonathan P. Bertuccelli, Luca F. Choi, Han-Lim Cho, Peter L. Conference agenda: http://www.aiaa.org/agenda.cfm?lumeetingid=1998 This paper analyzes task assignment for heterogeneous air vehicles using a guaranteed conflict-free assignment algorithm, the Consensus Based Bundle Algorithm (CBBA). We extend this recently proposed algorithm to handle two realistic multi- UAV operational complications. Our rst extension accounts for obstacle regions in order to generate collision free paths for UAVs. Our second extension reduces task planner sensitivity to sensor measurement noise, and thereby minimizes churning behavior in flight paths. After integrating our enhanced CBBA module with a 3D visualization and interaction software tool, we simulate multiple aircraft servicing stationary and moving ground targets. Preliminary simulation results establish that consistent, conflict-free multi-UAV path assignments can be calculated on the order of a few seconds. The enhanced CBBA consequently demonstrates signfi cant potential for real-time performance in stressing environments. 2010-06-22T20:41:04Z 2010-06-22T20:41:04Z 2009-08 Article http://purl.org/eprint/type/ConferencePaper AIAA-2009-5776 Session 31- GNC-19 http://hdl.handle.net/1721.1/55960 Bertuccelli, Luca F. et al. " Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments." AIAA Guidance, Navigation, and Control Conference, 10 - 13 August 2009, Chicago, Illinois, AIAA-2009-5776, p.1-16. © 2009 American Institute of Aeronautics and Astronautics. https://orcid.org/0000-0001-8576-1930 en_US http://pdf.aiaa.org/getfile.cfm?urlX=6%3A7I%276D%26X%5B%22%3B%2BR0SLP4S%5EQ%2A%2B%224%3AP%22%5E0%20%20%0A&urla=%25%2ARH%27%21P%2C%20%0A&urlb=%21%2A%20%20%20%0A&urlc=%21%2A0%20%20%0A&urle=%27%2BB%28%2E%2202%40WP%20%20%0A AIAA Guidance, Navigation, and Control Conference 10 - 13 August 2009, Chicago, Illinois Attribution-Noncommercial-Share Alike 3.0 Unported http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf American Institute of Aeronautics and Astronautics author/dept web page |
| spellingShingle | How, Jonathan P. Bertuccelli, Luca F. Choi, Han-Lim Cho, Peter L. Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title | Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title_full | Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title_fullStr | Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title_full_unstemmed | Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title_short | Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments |
| title_sort | real time multi uav task assignment in dynamic and uncertain environments |
| url | http://hdl.handle.net/1721.1/55960 https://orcid.org/0000-0001-8576-1930 |
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