Abstract
Cooperative surveillance problems require members of a team to spread out in some fashion to maximize coverage. In the case of single target surveillance, a team of UAVs angularly spaced (i.e. in the splay state configuration) provides the best coverage of the target in a wide variety of circumstances. In this chapter we propose a decentralized algorithm to achieve the splay state configuration for a team of UAVs tracking a moving target. We derive the allowable bounds on target velocity to generate a feasible solution as well as show that, near equilibrium, the overall system is exponentially stable. Monte Carlo simulations indicate that the surveillance algorithm is asymptotically stable for arbitrary initial conditions. We conclude with high fidelity simulation tests to show the applicability of the splay state controller to actual unmanned air systems.
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Kingston, D., Beard, R. (2007). UAV Splay State Configuration for Moving Targets in Wind. In: Pardalos, P.M., Murphey, R., Grundel, D., Hirsch, M.J. (eds) Advances in Cooperative Control and Optimization. Lecture Notes in Control and Information Sciences, vol 369. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74356-9_7
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DOI: https://doi.org/10.1007/978-3-540-74356-9_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74354-5
Online ISBN: 978-3-540-74356-9
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