Optimal Mission Planning of Autonomous Mobile Agents for Applications in Microgrids, Sensor Networks, and Military Reconnaissance

As technology advances, the use of collaborative autonomous mobile systems for various applications will become evermore prevalent. One interesting application of these multi-agent systems is for autonomous mobile microgrids. These systems will play an increasingly important role in applications such as military special operations for mobile ad-hoc power infrastructures and for intelligence, surveillance, and reconnaissance missions. In performing these operations with these autonomous energy assets, there is a crucial need to optimize their functionality according to their specific application and mission. Challenges arise in determining mission characteristics such as how each resource should operate, when, where, and for how long. This thesis explores solutions in determining optimal mission plans around the applications of autonomous mobile microgrids and resource scheduling with UGVs and UAVs. Optimal network connections, energy asset locations, and cabling trajectories are determined in the mobile microgrid application. The resource scheduling applications investigate the use of a UGV to recharge wireless sensors in a wireless sensor network. Optimal recharging of mobile distributed UAVs performing reconnaissance missions is also explored. With genetic algorithm solution approaches, the results show the proposed methods can provide reasonable a-priori mission plans, considering the applied constraints and objective functions in each application. The contributions of this thesis are: (1) The development and analysis of solution methodologies and mission simulators for a-priori mission plan development and testing, for applications in organizing and scheduling power delivery with mobile energy assets. Applying these methods results in (2) the development and analysis of reasonable a-priori mission plans for autonomous mobile microgrids/assets, in various scenarios. This work could be extended to include a more diverse set of heterogeneous agents and incorporate dynamic loads to provide power to

Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms

This book is a reprint of the Special Issue “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”,which was published in Applied Sciences

Multiple UAV systems: a survey

Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of tasks. There are few research works that cover the applications of these systems and they are all highly specialized. The goal of this survey is to fill this gap by providing a generic review on different applications of multiple UAV systems that have been developed in recent years. We also present a nomenclature and architecture taxonomy for these systems. In the end, a discussion on current trends and challenges is provided.This work was funded by the Ministry of Economy, Industryand Competitiveness of Spain under Grant Nos. TRA2016-77012-R and BES-2017-079798Peer ReviewedPostprint (published version

A Heterogeneous Aerial Platform Mission Planner using a Genetic Algorithm

Systems exist today that can plan a mission with more than one aircraft efficiently for surveillance. However, objectives in these missions do not change and are typically performed using a homogeneous set of aerial vehicles. An adaptive mission planner was sought to task a heterogeneous set of Unmanned Aerial Vehicles (UAVs) when an unknown Target of Interest (TOI) is located amongst a set of Points of Interest (POIs). First, two dimensional flight path models of fixed wing and quadcopter platforms were created. Next, the design of a genetic algorithm and its fitness functions were studied. Fixed wing fitness functions were developed to balance POI task loads amongst a set of fixed wing aircraft. A quadcopter fitness function was then designed to task a quadcopter to visit a newly located TOI. The quadcopter fitness function was also designed to maximize battery usage as it was desired that the quadcopter visit as many additional POIs on route to and from the TOI. Case studies were then simulated using varying heterogeneous UAV sets and TOI locations. Results of these simulations were then analyzed using mission times as a performance metric. Simulation results indicated that the deployment of the quadcopter to the TOI and additional POIs reduced overall mission times. Mission time reductions were also found to be depended on the number of fixed wing aircraft used in heterogeneous UAV sets

Collision avoidance strategies for unmanned aerial vehicles in formation flight

Collision avoidance strategies for multiple UAVs (Unmanned Aerial Vehicles) based on geometry are investigated in this study. The proposed strategies allow a group of UAVs to avoid obstacles and separate if necessary through a simple algorithm with low computation by expanding the collision-cone approach to formation of UAVs. The geometric approach uses line-of-sight vectors and relative velocity vectors where dynamic constraints are included in the formation. Each UAV can determine which plane and direction are available for collision avoidance. An analysis is performed to define an envelope for collision avoidance, where angular rate limits and obstacle detection range limits are considered. Based on the collision avoidance envelope, each UAV in a formation determines whether the formation can be maintained or not while avoiding obstacles. Numerical simulations are performed to demonstrate the performance of the proposed strategies

A review of task allocation methods for UAVs

Unmanned aerial vehicles, can offer solutions to a lot of problems, making it crucial to research more and improve the task allocation methods used. In this survey, the main approaches used for task allocation in applications involving UAVs are presented as well as the most common applications of UAVs that require the application of task allocation methods. They are followed by the categories of the task allocation algorithms used, with the main focus being on more recent works. Our analysis of these methods focuses primarily on their complexity, optimality, and scalability. Additionally, the communication schemes commonly utilized are presented, as well as the impact of uncertainty on task allocation of UAVs. Finally, these methods are compared based on the aforementioned criteria, suggesting the most promising approaches