Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Optimal leader allocation in UAV formation pairs under costly
switching
D. Richert, J. Cortés
Proceedings of the IEEE Conference on Decision and
Control, Maui, Hawaii, 2012, pp. 831-836
Abstract
We study the leader allocation problem in UAV formation pairs when
switching the lead incurs a fuel cost. While in formation, UAVs are
assumed to adhere to a notion of epsilon-cooperativeness. The
problem is formulated as the combination of a non-convex and a
discrete optimization problem where the leader allocations are
constrained to those that induce cooperation between UAVs. A
equivalent formulation of the problem allows us to express the
constraint set as a family of equality and inequality
constraints. By restricting our search to solutions of a specific
form, we replace the non-convex problem with a convex one while
preserving the optimal value of the original problem. A necessary
and sufficient condition is obtained which is used to verify a
solution to the discrete problem. The results are combined to design
the optimal cost algorithm, which efficiently solves the original problem. Our
results are verified in simulation.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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