NDLI: Multiple UAV Coalitions for a Search and Prosecute Mission

Content Provider	Springer Nature Link
Author	Manathara, Joel G. Sujit, P. B. Beard, Randal W.
Copyright Year	2010
Abstract	Unmanned aerial vehicles (UAVs) have the potential to carry resources in support of search and prosecute operations. Often to completely prosecute a target, UAVs may have to simultaneously attack the target with various resources with different capacities. However, the UAVs are capable of carrying only limited resources in small quantities, hence, a group of UAVs (coalition) needs to be assigned that satisfies the target resource requirement. The assigned coalition must be such that it minimizes the target prosecution delay and the size of the coalition. The problem of forming coalitions is computationally intensive due to the combinatorial nature of the problem, but for real-time applications computationally cheap solutions are required. In this paper, we propose decentralized sub-optimal (polynomial time) and decentralized optimal coalition formation algorithms that generate coalitions for a single target with low computational complexity. We compare the performance of the proposed algorithms to that of a global optimal solution for which we need to solve a centralized combinatorial optimization problem. This problem is computationally intensive because the solution has to (a) provide a coalition for each target, (b) design a sequence in which targets need to be prosecuted, and (c) take into account reduction of UAV resources with usage. To solve this problem we use the Particle Swarm Optimization (PSO) technique. Through simulations, we study the performance of the proposed algorithms in terms of mission performance, complexity of the algorithms and the time taken to form the coalition. The simulation results show that the solution provided by the proposed algorithms is close to the global optimal solution and requires far less computational resources.
Starting Page	125
Ending Page	158
Page Count	34
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	62
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-06-16
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Multi UAV Coalition formation Task allocation Particle swarm optimization Electrical Engineering Artificial Intelligence (incl. Robotics) Control , Robotics, Mechatronics Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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

Search Strategies for Multiple UAV Search and Destroy Missions

Response Threshold Model Based UAV Search Planning and Task Allocation

Resource Welfare Based Task Allocation for UAV Team with Resource Constraints

Market-Based Task Assignment for Cooperative Timing Missions in Dynamic Environments

Optimization of Wireless Sensor Network and UAV Data Acquisition

Swarm-like Methodologies for Executing Tasks with Deadlines

Coalition Formation: From Software Agents to Robots

Enhanced Backstepping Controller Design with Application to Autonomous Quadrotor Unmanned Aerial Vehicle

Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight

Multiple UAV Coalitions for a Search and Prosecute Mission

Similar Documents

Search Strategies for Multiple UAV Search and Destroy Missions

Response Threshold Model Based UAV Search Planning and Task Allocation

Resource Welfare Based Task Allocation for UAV Team with Resource Constraints

Market-Based Task Assignment for Cooperative Timing Missions in Dynamic Environments

Optimization of Wireless Sensor Network and UAV Data Acquisition

Swarm-like Methodologies for Executing Tasks with Deadlines

Coalition Formation: From Software Agents to Robots

Enhanced Backstepping Controller Design with Application to Autonomous Quadrotor Unmanned Aerial Vehicle

Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight

Multiple UAV Coalitions for a Search and Prosecute Mission