Agent model for multi-UAV control via protocol designs  

作　　者：Sunan Huang Swee Huat Rodney Teo Wenqi Liu Siarhei Michailovich Dymkou 

机构地区：[1]Temasek Laboratory,National University of Singapore,Singapore [2]National University of Singapore,Singapore

出　　处：《International Journal of Intelligent Computing and Cybernetics》2017年第4期412-429,共18页智能计算与控制论国际期刊（英文）

摘　　要：Purpose–Cooperative control of a group of unmanned aerial vehicles(UAVs)is an important area of research.The purpose of this paper is to explore multi-UAV control in the framework of providing surveillance of areas of interest with automatic loss detection and replacement capabilities.Design/methodology/approach–The research is based on the concept of the multi-agent system.The authors present the framework of the multi-agent and protocol design for monitoring the network of a group of UAVs.Findings–If one or more UAVs which is conducting a high priority surveillance task is lost,the system can self-arrange for another UAV to replace the lost UAV and continue to execute its task.This research provides an excellent design protocol for UAV loss detection and replacement scheme.Research limitations/implications–One of the major limitations of this research is that we have only two types of priority levels,high or low.If the priority is more than two levels,for example,high priority 1,high priority 2,or high priority 3,the replacement has not yet been implemented.Originality/value–This paper contributes to the following two aspects of the scientific knowledge.The first contribution is the design of an agent model which jointly considers system architecture,communication,control logic and target monitoring.The second contribution includes the decentralized and automatic UAV loss detection and replacement algorithm.

关 键 词：Intelligent control ROBOTICS Multi-agent systems Unmanned aerial vehicles 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]