Autonomous UAV Sensor Planning, Scheduling and Maneuvering: An Obstacle Engagement Technique

  title={Autonomous UAV Sensor Planning, Scheduling and Maneuvering: An Obstacle Engagement Technique},
  author={I. Michael Ross and Ronald J. Proulx and Mark Karpenko},
  journal={2019 American Control Conference (ACC)},
An uninhabited aerial vehicle (UAV) equipped with an electro-optical payload is tasked to collect over a set of discrete regions of interest. By considering the discrete regions to be obstacles that must be engaged, rather than avoided, a new mathematical technique emerges. To frame the anti-obstacle-avoidance problem, we use Kronecker indicator functions to localize the totality of constraints associated with the discrete regions. A rich class of payoff functionals can be defined using… 
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Direct trajectory optimization by a Chebyshev pseudospectral method
  • F. Fahroo, I. Michael Ross
  • Mathematics
    Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)
  • 2000
A Chebyshev pseudospectral method is presented in this paper for directly solving a generic optimal control problem with state and control constraints. This method employs Nth degree Lagrange
Costate computation by a Chebyshev pseudospectral method
AMONG the various pseudospectral (PS) methods for optimal control [1], only the Legendre PS method has been mathematically proven to guarantee the feasibility, consistency, and convergence of the