Real-time dynamic planning to maintain network connectivity in a team of unmanned air vehicles
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How_Real-time dynamic planning.pdf
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1.64 MB
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Author(s)
Ponda, Sameera S.
Johnson, Luke B.
Toupet, Olivier
How, Jonathan P.
Kopeikin, Andrew
Date Issued
December 2011
Journal
Proceedings of the 2011 IEEE GLOBECOM Workshops (GC Wkshps)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Kopeikin, Andrew N., Sameera S. Ponda, Luke B. Johnson, Olivier Toupet, and Jonathan P. How. “Real-time dynamic planning to maintain network connectivity in a team of unmanned air vehicles.” In 2011 IEEE GLOBECOM Workshops (GC Wkshps), 1303-1307. Institute of Electrical and Electronics Engineers, 2011.
Version
Author's final manuscript
Abstract
As technology progresses, the capability provided by teams of unmanned systems will span all operational domains and become increasingly important in many applications. Teams of unmanned systems can be composed of agents with different capabilities, and must often operate in dynamic environments where the state of tasks is always changing. Effective real-time task allocation is paramount in these situations. Constraints on connectivity of a network of unmanned agents, such as those required to provide realtime remotely sensed data for exploitation, are a major challenge in this planning process. This paper presents the implementation of research performed to extend a real-time task planning approach called the Consensus Based Bundle Algorithm (CBBA), to include planning for communication relays when facing potential network disconnects. The paper implements the algorithm in a flight test experiment with a team of 3 UAVs performing observation tasks out of communication range from the base station. Results show that planning for relays can be performed in real-time and offers increased mission performance over the baseline CBBA algorithm.
MIT Department
Lincoln Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/GLOCOMW.2011.6162396
