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.

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Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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cortes at ucsd.edu
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