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4 September 2003 A receding horizon approach for dynamic UAV mission management
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We consider a setting where multiple UAVs form a team cooperating to visit multiple targets to collect rewards associated with them. The team objective is to maximize the total reward accumulated over a given time interval. Complicating factors include uncertainties regarding the locations of targets and the effectiveness of collecting rewards, differences among vehicle capabilities, and the fact that rewards are time-varying. We describe a Receding Horizon (RH) control scheme which dynamically assigns vehicles to targets and simultaneously determines associated trajectories. This scheme is based on solving a sequence of optimization problems over a planning horizon and executing them over a shorter action horizon. We also describe a simulated battlespace environment designed to test UAV team missions and to illustrate how the RH scheme can achieve optimal performance with high probability.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Christos G. Cassandras and Wei Li "A receding horizon approach for dynamic UAV mission management", Proc. SPIE 5091, Enabling Technologies for Simulation Science VII, (4 September 2003);

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