Mr. Md Ali Azam Profile

Md Ali Azam

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Proceedings Article | 22 April 2020 Presentation + Paper

Decentralized formation shape control of UAV swarm using dynamic programming

Md Ali Azam, Shankarachary Ragi

Proceedings Volume 11423, 114230I (2020) https://doi.org/10.1117/12.2557571

KEYWORDS: Unmanned aerial vehicles, Computer programming, Kinematics, Motion controllers, Computer simulations, Motion models, Control systems, Surveillance, Agriculture, Optical spheres

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Formation control of unmanned aerial vehicles (UAVs) has many applications including target tracking, surveillance, terrain mapping, precision agriculture, etc. Although many centralized control methods (single command center/computer controlling the UAVs) exist, there are no standard decentralized control frameworks in the literature. In this paper, we present a novel UAV swarm formation control approach based on a decision theoretic approach. Specifically, we pose the decentralized swarm motion control problem as a Decentralized Markov Decision Process (Dec-MDP). Here, the objective is to drive the swarm from an initial geographical region to another geographical region where the swarm must lie on a certain geometrical surface (e.g., surface of a sphere). As most decision theoretic formulations suffer from the curse of dimensionality, we adapt an approximate dynamic programming method called nominal belief-state optimization (NBO) to solve the formation control problem approximately. We perform simulation studies in MATLAB to validate the performance of the algorithms.

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