Control Architecture Design and Demonstration for Cooperative UAV's; Final technical rept. 1 Sep 2004-29 Feb 2008

摘要

The research objective is to develop algorithms that can be embedded in a distributed coordination and control architecture for teams of multiple UAVs. The main problem is to determine the role of errors in the situational awareness (SA) in the fleet coordination problem by investigating two fundamental questions: how does specific sensor information impact the estimation error, and how does this estimation error impact the control performance. The answers to these questions will provide a clear indication of the impact of errors in the SA on the control performance and should enable the design of an efficient (and dynamic) communication architecture.