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Full-Text Articles in Engineering
Autonomous Hierarchical Control Of Multiple Unmanned Combat Air Vehicles (Ucavs), Timothy Mclain, Randal W. Beard, Sai-Ming Li, Jovan D. Boskovic, Sanjeev Seereeram, Ravi Prasanth, Jayesh Amin, Raman K. Mehra
Autonomous Hierarchical Control Of Multiple Unmanned Combat Air Vehicles (Ucavs), Timothy Mclain, Randal W. Beard, Sai-Ming Li, Jovan D. Boskovic, Sanjeev Seereeram, Ravi Prasanth, Jayesh Amin, Raman K. Mehra
Faculty Publications
In this paper we present a hierarchical control scheme that enables multiple UCAVs to achieve demanding missions in hostile environments autonomously. The objective is to use a swarm of UCAVs for a SEAD type mission: fly the UCAVs in a formation to an enemy territory populated with different kinds of threats, collect enemy information or destroy certain targets, and return to the base, all without human intervention. The scheme is an integration of four distinct components, including: (1) high level Voronoi diagram based path planner to avoid static threats; (2) low level path planner to avoid popup threats; (3) differential …