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dc.contributor.authorKopeikin, Andrew
dc.contributor.authorPonda, Sameera S.
dc.contributor.authorJohnson, Luke B.
dc.contributor.authorHow, Jonathan P.
dc.date.accessioned2013-10-25T13:26:52Z
dc.date.available2013-10-25T13:26:52Z
dc.date.issued2012-12
dc.identifier.isbn978-1-4673-4941-3
dc.identifier.isbn978-1-4673-4942-0
dc.identifier.isbn978-1-4673-4940-6
dc.identifier.urihttp://hdl.handle.net/1721.1/81768
dc.description.abstractA multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This paper describes a unique method to control communications through distributed task allocation to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. The distributed algorithm uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes the team is able to optimize the use of agents to address the needs of dynamic complex missions. The framework is designed to consider realistic network communication dynamics including path loss, stochastic fading, and information routing. The planning strategy is shown to ensure that agents support both datarate and interconnectivity bit-error-rate requirements during task execution. System performance is characterized through experiments both in simulation and in outdoor flight testing with a team of three UAVs.en_US
dc.description.sponsorshipAurora Flight Sciences Corp. (Fellowship Program)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/GLOCOMW.2012.6477821en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceMIT web domainen_US
dc.titleMulti-UAV network control through dynamic task allocation: Ensuring data-rate and bit-error-rate supporten_US
dc.typeArticleen_US
dc.identifier.citationKopeikin, Andrew, Sameera S. Ponda, Luke B. Johnson, and Jonathan P. How. “Multi-UAV network control through dynamic task allocation: Ensuring data-rate and bit-error-rate support.” In 2012 IEEE Globecom Workshops, 1579-1584. Institute of Electrical and Electronics Engineers, 2012.en_US
dc.contributor.departmentLincoln Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Aerospace Controls Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.mitauthorKopeikin, Andrewen_US
dc.contributor.mitauthorPonda, Sameera S.en_US
dc.contributor.mitauthorJohnson, Luke B.en_US
dc.contributor.mitauthorHow, Jonathan P.en_US
dc.relation.journalProceedings of the 2012 IEEE Globecom Workshopsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsKopeikin, Andrew; Ponda, Sameera S.; Johnson, Luke B.; How, Jonathan P.en_US
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
dc.identifier.orcidhttps://orcid.org/0000-0001-6084-7287
mit.licenseOPEN_ACCESS_POLICYen_US


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