### Jorge Cortés

#### Professor

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.

pdf |
ps.gz

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

Skype id:
jorgilliyo