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The optimal control of a “blind” UAV searching for a target moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the UAV, some roads in the network have been instrumented with Unattended Ground Sensors (UGSs) that detect the target's passage. When the UAV arrives at an instrumented node, the UGS therein informs the UAV if and when the target visited...
In this paper we propose a novel approach for trajectory optimization for constrained Unmanned Aerial Vehicles (UAVs). With regard to the classical trajectory optimization problem, we take a Virtual Target Vehicle (VTV) perspective by introducing a virtual target that plays the role of an additional control input. Based on a nonlinear projection operator optimal control technique and extending the...
In order to achieve a high degree of operational flexibility, it is often required to recover small UAVs without infrastructure such as a runway. To help overcome this difficulty, deep stall landing can be used as a landing method on small space. The UAV is in a deep stall when the angle of attack is beyond the stall angle, and the condition causes the UAV to loose height rapidly. In the post-stall...
In this paper, we study the distributed optimal flocking control problem of multiple Unmanned Aircraft Systems (Multi-UAS). Using the emerging Neuro Dynamic Programming (NDP) technique, a novel distributed near optimal flocking design is proposed for ensuring the multi-UAS to follow the three heuristic flocking rules (i.e. cohesion, separation and alignment) in an optimal manner. First, an innovative...
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