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— Frequent updates concerning the progress of a forest fire are essential for effective and safe fire fighting. Since a forest fire is typically inaccessible by ground vehicles due to mountainous terrain, small Unmanned Air Vehicles (UAVs) are emerging as a promising means of monitoring large forest fires. We present an effective UAV path planning algorithm(More)
This note studies event-triggered control of Multi-Agent Systems (MAS) with first order integrator dynamics. It extends previous work on event-triggered consensus by considering limited communication capabilities through strict peer-to-peer non-continuous information exchange. The approach provides both a decentralized control law and a decentralized(More)
— The consensus problem with general linear dynamics and communication delays is investigated. An event-triggered consensus protocol is proposed, where each agent implements a model of the decoupled dynamics of its neighbors. This approach not only avoids the need for continuous communication between agents but also provides a decentralized and asynchronous(More)
The objective of this paper is to explore the feasibility of using multiple low-altitude, short endurance (LASE) unmanned air vehicles (UAVs) to cooperatively monitor and track the propagation of large forest fires. A real-time algorithm is described for tracking the perimeter of fires with an on-board infrared sensor. Using this algorithm, we develop a(More)
— Due to their wide range of practical applications, Unmanned Air Vehicles (UAVs) have recently attracted considerable attention in the research community. In this paper, we focus on their use in a simple target tracking application, and take advantage of their maneuverability to improve tracking performance. A centralized control point is used to command(More)
Unmanned Air Vehicles (UAVs) are playing an increasingly prominent role in both military and civilian applications. In this paper, we focus on the use of multiple UAV agents in a target tracking application where performance is improved by exploiting each agent's maneuverability. Local time-delay and Doppler measurements made at each UAV are used as inputs(More)
— This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control(More)