Abstract
This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks estabilished by the decentralized cooperative control approach can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.
Highlights
Cooperative autonomous operations by teams of heterogeneous vehicles such as aerial, surface, and underwater robots will increase the functionality of distributed sensing for shared situational awareness, surveillance and target tracking applications (Schoenwald 2000 & Cortes 2004)
The sensor networks estabilished by the decentralized cooperative control technique with a formation flying of the aerila vehicles for phase synchronization can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment, which resulting in a stable and reconfigurable wireless sensor entworks
The case of tuning devices involved in the aeronautical field is very critical, since experimental trials are performed with time-consuming test flights and unsatisfactory results could lead to dangerous situations
Summary
Cooperative autonomous operations by teams of heterogeneous vehicles such as aerial, surface, and underwater robots will increase the functionality of distributed sensing for shared situational awareness, surveillance and target tracking applications (Schoenwald 2000 & Cortes 2004). Aerial robotic vehicles to establish wireless communication networks between heterogeneous vehicles for wide area surveillance, rescue, and tracking applications This reserch is based on the previous work (Lee 2009) and further extends it to an advanced cooperative capability for controlling multiple aerial robotic vehicles. The sensor networks estabilished by the decentralized cooperative control technique with a formation flying of the aerila vehicles for phase synchronization can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment, which resulting in a stable and reconfigurable wireless sensor entworks.
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