Optimal reorganization of agent formations
WSEAS Transactions on Systems and Control
CONTROL'08 Proceedings of the 4th WSEAS/IASME international conference on Dynamical systems and control
Evolutionary trajectory planner for multiple UAVs in realistic scenarios
IEEE Transactions on Robotics
Computers and Industrial Engineering
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The scheduling, for autonomous refueling, of multiple unmanned aerial vehicles (UAVs) is posed as a combinatorial optimization problem. An efficient dynamic programming (DP) algorithm is introduced for finding the optimal initial refueling sequence. The optimal sequence needs to be recalculated when conditions change, such as when UAVs join or leave the queue unexpectedly. We develop a systematic shuffle scheme to reconfigure the UAV sequence using the least amount of shuffle steps. A similarity metric over UAV sequences is introduced to quantify the reconfiguration effort which is treated as an additional cost and is integrated into the DP algorithm. Feasibility and limitations of this novel approach are also discussed