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Full-Text Articles in Engineering
Decentralized Control Of Multiple Uavs For Perimeter And Target Surveillance, Derek B. Kingston
Decentralized Control Of Multiple Uavs For Perimeter And Target Surveillance, Derek B. Kingston
Theses and Dissertations
With the recent development of reliable autonomous technologies for small unmanned air vehicles (UAVs), the algorithms utilizing teams of these vehicles are becoming an increasingly important research area. Unfortunately, there is no unified framework into which all (or even most) cooperative control problems fall. Five factors that affect the development of cooperative control algorithms are objective coupling, communication, completeness, robustness, and efficiency. We classify cooperative control algorithms by these factors and then present three algorithms with application to target and perimeter surveillance and a method for decentralized algorithm design. The primary contributions of this research are the development and analysis …
Three Enabling Technologies For Vision-Based, Forest-Fire Perimeter Surveillance Using Multiple Unmanned Aerial Systems, Ryan S. Holt
Three Enabling Technologies For Vision-Based, Forest-Fire Perimeter Surveillance Using Multiple Unmanned Aerial Systems, Ryan S. Holt
Theses and Dissertations
The ability to gather and process information regarding the condition of forest fires is essential to cost-effective, safe, and efficient fire fighting. Advances in sensory and autopilot technology have made miniature unmanned aerial systems (UASs) an important tool in the acquisition of information. This thesis addresses some of the challenges faced when employing UASs for forest-fire perimeter surveillance; namely, perimeter tracking, cooperative perimeter surveillance, and path planning. Solutions to the first two issues are presented and a method for understanding path planning within the context of a forest-fire environment is demonstrated. Both simulation and hardware results are provided for each …