George, Joel and Sujit, PB and Sousa, JB (2011) Search Strategies for Multiple UAV Search and Destroy Missions. In: Journal of Intelligent and Robotic Systems, 61 (1-4). pp. 355-367.
Search.pdf - Published Version
Restricted to Registered users only
Download (317Kb) | Request a copy
Multiple UAVs are deployed to carry out a search and destroy mission in a bounded region. The UAVs have limited sensor range and can carry limited resources which reduce with use. The UAVs perform a search task to detect targets. When a target is detected which requires different type and quantities of resources to completely destroy, then a team of UAVs called as a coalition is formed to attack the target. The coalition members have to modify their route to attack the target, in the process, the search task is affected, as search and destroy tasks are coupled. The performance of the mission is a function of the search and the task allocation strategies. Therefore, for a given task allocation strategy, we need to devise search strategies that are efficient. In this paper, we propose three different search strategies namely; random search strategy, lanes based search strategy and grid based search strategy and analyze their performance through Monte-Carlo simulations. The results show that the grid based search strategy performs the best but with high information overhead.
|Item Type:||Journal Article|
|Additional Information:||Copyright of this article belongs to Springer.|
|Keywords:||UAV;Coalition formation;Task allocation;Search|
|Department/Centre:||Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)|
|Date Deposited:||07 Apr 2011 06:51|
|Last Modified:||07 Apr 2011 06:51|
Actions (login required)