Coordinated Standoff Tracking Using Path Shaping for Multiple UAVs

Dubins Path Planning of Multiple UAVs for Tracking Contaminant Cloud

: This paper presents cooperative path planning approach for multi UAVs to detect, model and track the shape of a contaminant cloud boundary. The objective of this research study is to manage the resources (airborne sensors) such as to determine the boundary of a cloud and track its motion with minimum information. The dispersing model of the contaminant cloud boundary is based on SCIPUFF. The ...

Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs

This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances. Decentralised angular separation control ...

Time-Coordinated Path Following of Multiple UAVs over Time-Varying Networks using L1 Adaptation

Motivated by challenging mission scenarios, this paper tackles the problem of multiUnmanned Aerial Vehicle (UAV) cooperative control in the presence of time-varying communication networks. Specifically, we address the problem of steering a fleet of UAVs along given paths (path following) so as to meet spatial and/or temporal constraints. One possible scenario is the situation where a fleet of v...

Nonlinear Model Predictive Coordinated Standoff Tracking of Moving Ground Vehicle∗

Cooperative Vision Based Estimation and Tracking Using Multiple UAVs

Unmanned aerial vehicles (UAVs) are excellent platforms for detecting and tracking objects of interest on or near the ground due to their vantage point and freedom of movement. This paper presents a cooperative vision-based estimation and tracking system that can be used in such situations. The method is shown to give better results than could be achieved with a single UAV, while being robust t...