Cooperative Path Planning for Multiple UAVs in Dynamic and Uncertain Environments 1

  title={Cooperative Path Planning for Multiple UAVs in Dynamic and Uncertain Environments 1},
  author={John S. Bellingham and Michael Tillerson and Mehdi Alighanbari and Jonathan P. How},
  • John S. Bellingham, Michael Tillerson, +1 author Jonathan P. How
  • Published 2002
This paper addresses the problem of cooperative path planning for a fleet of UAVs. The paths are optimized to account for uncertainty/adversaries in the environment by modeling the probability of UAV loss. The approach extends prior work by coupling the failure probabilities for each UAV to the selected missions for all other UAVs. In order to maximize the expected mission score, this stochastic formulation designs coordination plans that optimally exploit the coupling effects of cooperation… CONTINUE READING
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