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Electrical and Computer Engineering

Brigham Young University

Faculty Publications

2008

Cooperative control

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Decentralized Perimeter Surveillance Using A Team Of Uavs, Randal Beard, David Casbeer, Derek Kingston Dec 2008

Decentralized Perimeter Surveillance Using A Team Of Uavs, Randal Beard, David Casbeer, Derek Kingston

Faculty Publications

Sponsorship: NASA, AFOSR. This paper develops a distributed algorithm to maintain a current estimate of the state of the perimeter using a team of UAVs. Using notions of consensus, an algorithm is developed and shown to distribute a UAV team uniformly around the perimeter.

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