David W. Casbeer

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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)
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)
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)
The consensus problem with general linear dynamics and communication delays is investigated. An eventtriggered 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)
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 the(More)
The consensus problem with general linear dynamics and undirected graphs is studied in this paper by means of event-triggered control strategies. A novel consensus protocol is proposed, where each agent implements amodel of the decoupled dynamics of its neighbors. Under this control strategy, transmission of information does not occur continuously but only(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 event-triggered control techniques for the consensus problem with general linear dynamics. A novel consensus protocol is proposed, where each agent implements a model of the decoupled dynamics of its neighbors. We first provide a simple centralized condition to motivate the problem. Then, the focus is placed on designing decentralized(More)