Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 4 of 4
Full-Text Articles in Engineering
Vision-Aided Cooperative Navigation For Multiple Unmanned Vehicles, Jason K. Bingham
Vision-Aided Cooperative Navigation For Multiple Unmanned Vehicles, Jason K. Bingham
Theses and Dissertations
In the recent past, a shift has taken place from manned to unmanned Intelligence, Surveillance, and Reconnaissance (ISR) missions. This shift has lead to an increase in the number of unmanned vehicles (UV) operating in a theater. Additionally, removal of the crew allows for a reduction in vehicle scale, which leads to an increased ability to operate in GPS degraded environments. With the loss of GPS signals the vehicles must rely on Inertial Navigation Systems (INS) which when reduced to an appropriate size are inherently inaccurate. This research endeavors to exploit three attributes of increased UV use for ISR missions. …
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Theses and Dissertations
The route surveillance mission is a new application of unmanned aircraft systems (UASs) to meet the reconnaissance and surveillance requirements of combatant commanders. The new mission intends to field a UAS consisting of unmanned aerial vehicles (UAVs) that can provide day and night surveillance of convoy routes. This research focuses on developing a solution strategy for the mission based on the application of optimal control and cooperative control theory. The route surveillance controller uses the UAS team size to divide the route into individual sectors for each entity. A specifically designed cost function and path constraints are used to formulate …
Communication Free Robot Swarming, Zachary C. Gray
Communication Free Robot Swarming, Zachary C. Gray
Theses and Dissertations
As the military use of unmanned aerial vehicles increases, a growing need for novel strategies to control these systems exists. One such method for controlling many unmanned aerial vehicles simultaneously is the through the use of swarm algorithms. This research explores a swarm robotic algorithm developed by Kadrovach implemented on Pioneer Robots in a real-world environment. An adaptation of his visual sensor is implemented using stereo vision as the primary method of sensing the environment. The swarm members are prohibited from explicitly communicating other than passively through the environment. The resulting implementation produces a communication free swarming algorithm. The algorithm …
Swarm Based Implementation Of A Virtual Distributed Database System In A Sensor Network, Wen C. Lee
Swarm Based Implementation Of A Virtual Distributed Database System In A Sensor Network, Wen C. Lee
Theses and Dissertations
The deployment of unmanned aerial vehicles (UAVs) in recent military operations has had success in carrying out surveillance and combat missions in sensitive areas. An area of intense research on UAVs has been on controlling a group of small-sized UAVs to carry out reconnaissance missions normally undertaken by large UAVs such as Predator or Global Hawk. A control strategy for coordinating the UAV movements of such a group of UAVs adopts the bio-inspired swarm model to produce autonomous group behavior. This research proposes establishing a distributed database system on a group of swarming UAVs, providing for data storage during a …