Mechanical Engineering Faculty Publications

Document Type

Technical Report

Publication Date

10-19-2006

Abstract

The report describes the development of a theoretical framework for coordination and control of combined teams of UAVs and UGVs for coordinated ISR missions. We consider the mission as a composition of an ordered sequence of subtasks, each to be performed by a different team. We design continuous cooperative controllers that enable each team to perform a given subtask and we develop a discrete strategy for interleaving the action of teams on different subtasks. The overall multi-agent coordination architecture is captured by a hybrid automaton, stability is studied using Lyapunov tools, and performance is evaluated through numerical simulations.

Language (ISO)

English

Sponsorship

Sandia National Laboratories

Keywords

Cooperative control, UAVs, UGVs, reconnaissance, surveillance, search

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