Bayesian Modeling for Decentralized UAV Control and Task Allocation
Bayesian Modeling for Decentralized UAV Control and Task Allocation
复制标题
分散式无人机控制和任务分配的贝叶斯建模
DOI：
10.2514/6.2015-0122
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发表时间：
2015
影响因子：
4.3
通讯作者：
C. Ippolito
中科院分区：
文献类型：
--
作者：
Sebastian Hening;P. Regueiro;Abel Rodríguez;M. Teodorescu;N. Nguyen;C. Ippolito
目前的研究代表了开发小型自主、智能和廉价无人机（UAV）去中心化网络的第一步，该网络可用于各种科学任务，其中分布式节点网络的测量可以显着改善评估。该论文提出了一种自适应机载传感平台（例如无人机），可用于融合通过多种传感方式（从靠近或位于现象内部的传感器获得）获取的信息，以监测空间和时间上的环境过程。传感平台能够根据情况（例如，不断发展的科学现象）不断重新配置其轨迹，以优化各个传感路径点的位置。作为概念证明和验证，我们将应用所提出的传感方法来监测火山羽流。本文的重点是（i）开发贝叶斯统计方法来创建传感器融合算法，用于对羽流进行建模并以最佳方式引导无人机（ii）实施分布式任务分配方案，该方案能够有效地引导所有无人机并根据各种标准优化无人机路径。
The current research represents a first step towards developing a decentralized network of small autonomous, intelligent and inexpensive unmanned aerial vehicles (UAV), which could be used for a variety of scientific missions where measurements from a distributed network of nodes could significantly improve the assessment. The paper presents an adaptive airborne sensing platform (e.g., UAV) that could be used to fuse the information acquired through multiple sensing modalities (obtained from sensors located close to or inside the phenomena) to monitor environmental processes over space and time. The sensing platform is able to continuously reconfigure its trajectory according to the circumstances (e.g., continuously evolving scientific phenomena) to optimize the location of individual sensing waypoints. As proof of concept and validation, we will apply the proposed sensing approach to monitoring volcanic plumes. The paper focuses on (i) developing a Bayesian statistical method to create sensor fusion algorithms that is used to model the plume and guide the UAV in an optimal way (ii) implementing a distributed task allocation scheme which is able guide all the UAVs efficiently and optimize the UAV paths for various criteria.
用于优化空间现象监测的自主非完整车辆的轨迹规划
DOI：
10.1109/icuas.2015.7152273
发表时间：
2015
期刊：
International Conference on Unmanned Aircraft Systems (ICUAS
影响因子：
--
作者：
Song, Sisi;Rodriguez, Abel;Teodorescu, Mircea
通讯作者：
Teodorescu, Mircea