NDLI: Integrated multi-agent system framework: decentralised search, tasking and tracking

Content Provider	IET Digital Library
Author	Meng, Wei He, Zhirong Teo, Rodney Su, Rong Xie, Lihua
Abstract	This study is concerned with integrated target search, tasking and tracking using multiple fixed-wing unmanned air vehicles (UAVs). The problem is to design control logic and optimise flight paths for UAVs. The fixed-wing UAVs are required to cooperatively search the potential targets in the area of operation (AO) and keep monitoring and tracking the found targets according to a certain predefined minimal revisit time. Each UAV can only communicate with its neighbours and also flight autonomy is designed for individual UAVs. High level control logic based on finite state automaton model, integrating the four modes of operations, that is, take-off mode, fly-to-AO mode, search mode and tracking mode, is developed. For the target search, an improved decentralised coverage based algorithm is designed for fixed-wing UAVs. Task assignment is developed based on contract net protocol. For the target tracking, the optimal paths are derived for the UAVs to continuously monitoring multiple static targets. The developed integrated multi-agent system is evaluated by a hybrid three-dimensional simulation system using a real miniature fixed-wing UAV dynamic model.
Starting Page	493
Ending Page	502
Page Count	10
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 3, Feb (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0469
Journal	IET Control Theory & Applications
Publisher Date	2014-12-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Automata Theory Autonomous Aerial Vehicle Contract Net Protocol Control Logic Design Decentralised Control Decentralised Coverage Based Algorithm Decentralised Search Decentralised Tasking Finite State Automaton Model Finite State Machine Flight Autonomy Flight Path Optimisation Fly-to-AO Mode High Level Control Logic Hybrid Three-dimensional Simulation System Integrated Multi-agent System Framework Integrated Target Search Mobile Robots Multi-agent System Multiple Fixed-wing Unmanned Air Vehicle Multiple Static Targets Multivariable Control System Real Miniature UAV Dynamic Model Robot And Manipulator Mechanics Robot Dynamics Search Mode Take-off Mode Target Tracking Tracking Mode
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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