Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs

Dynamic Modeling of Fixed-Wing UAVs (Fixed-Wing Unmanned Aerial Vehicles)

Robust Decentralized Task Assignment for Cooperative UAVs

This paper investigates the problem of decentralized task assignment for a fleet of cooperative UAVs. It extends the analysis of a previously proposed algorithm to consider the performance with different communication network topologies. The results show that the second communication step introduced during the planning phase of the new algorithm is crucial for sparse networks because the conver...

Model Predictive Control for a Swarm of Fixed Wing Uavs

This paper describes an algorithm for the control of a swarm of UAVs based on decentralized MPC. For each UAV, our algorithm first determines the trajectory taking into account the obstacles and the constraints on the aircraft performance. Then basing on a robust MPC algorithm, optimal guidance laws are calculated and tracked by the UAVs by means of local PIDs controllers. Our approach also all...

An Innovative Mission Management System for Fixed-wing Uavs

This paper presents two innovative units linked together to build the main frame of a UAV Mission Management System. The first unit is a Path Planner for small UAVs able to generate optimal paths in a tridimensional environment, generating flyable and safe paths with the lowest computational effort. The second unit is the Flight Management System based on Nonlinear Model Predictive Control, tha...

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) ha...