Decentralized control of unmanned aerial robots for wireless airborne communication networks

Authors
Lin, Deok-Jin
Mark, Richard
Subjects
Communication relays
Decentralized cooperative control
Distributed systems
Autonomous aerial robots
Adaptic gradient descent control
Airborne communication networks
Advisors
Date of Issue
2010
Date
Publisher
Advanced Robotic Systems International
Language
Abstract
This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enables communication networks with static or slow-moving nodes on ground or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks established by the decentralized cooperative control approach can adopt its configuration in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.
Type
Article
Description
Series/Report No
Department
Center for Autonomous Vehicle Research
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
10 p.
Citation
D.-J. Lee, R. Mark, "Decentralized control of unmanned aerial robots for wireless airborne communication networks," International Journal of Advanced Robotic Systems, v.7, no.3 (2010), pp.191-200.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.