Dynamic mission planning for communication control in multiple unmanned aircraft teams
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1721.1/76105 |
| _version_ | 1826191516318564352 |
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| author | Kopeikin, Andrew N. (Andrew Normand) |
| author2 | Jonathan P. How. |
| author_facet | Jonathan P. How. Kopeikin, Andrew N. (Andrew Normand) |
| author_sort | Kopeikin, Andrew N. (Andrew Normand) |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012. |
| first_indexed | 2024-09-23T08:57:05Z |
| format | Thesis |
| id | mit-1721.1/76105 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T08:57:05Z |
| publishDate | 2013 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/761052019-04-10T19:54:31Z Dynamic mission planning for communication control in multiple unmanned aircraft teams Kopeikin, Andrew N. (Andrew Normand) Jonathan P. How. Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 147-160). As autonomous technologies continue to progress, teams of multiple unmanned aerial vehicles will play an increasingly important role in civilian and military applications. A multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This thesis presents a unique method to control communications through distributed mission planning to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. The distributed algorithm uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes the team is able to optimize the use of agents to address the needs of dynamic complex missions. The framework is designed to consider realistic network communication dynamics including path loss, stochastic fading, and information routing. The planning strategy is shown to ensure agents support both data-rate and interconnectivity bit-error- rate requirements during task execution. In addition, a method is provided for UAVs to estimate the network performance during times of uncertainty, adjust their plans to acceptable levels of risk, and adapt the planning behavior to changes in the communication environment. The system performance is verified through multiple experiments conducted in simulation. Finally, the work developed is implemented in outdoor flight testing with a team of up to four UAVs to demonstrate real-time capability and robustness to imperfections in the environment. The results validate the proposed framework, but highlight some of the challenges these systems face when operating in outdoor uncontrolled environments. by Andrew N. Kopeikin. S.M. 2013-01-07T21:21:08Z 2013-01-07T21:21:08Z 2012 2012 Thesis http://hdl.handle.net/1721.1/76105 820465381 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 160 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Aeronautics and Astronautics. Kopeikin, Andrew N. (Andrew Normand) Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title | Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title_full | Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title_fullStr | Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title_full_unstemmed | Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title_short | Dynamic mission planning for communication control in multiple unmanned aircraft teams |
| title_sort | dynamic mission planning for communication control in multiple unmanned aircraft teams |
| topic | Aeronautics and Astronautics. |
| url | http://hdl.handle.net/1721.1/76105 |
| work_keys_str_mv | AT kopeikinandrewnandrewnormand dynamicmissionplanningforcommunicationcontrolinmultipleunmannedaircraftteams |