Abstract
Abstract This paper proposes a scheme for distributing a group of Unmanned Aerial Vehicles (UAVs) in an environment using Broadcast Control (BC) algorithm. BC is a recent technique that uses stochastic optimization to control a multi-agent system for accomplishing a global task. BC’s variant, the Pseudo-perturbation based BC (PBC), uses model based predicted decision and shows faster convergence than BC. In this paper, we have modified the existing BC schemes by incorporating relevant constraints to consider physical limitations of the agents. The proposed scheme is applied to a group of UAVs having kinematic constraints for an area coverage task. Results from numerical simulation show that the performance of BC methods are maintained, and more importantly, the designed path constraints for the UAVs produces a less erratic, continuous and realistic travel path as the UAVs fly to reach their goal.
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