ADA444825_无人机团队决策与控制采用高效协同

UAV Team Decision and Controlusing Efficient Collaborative EstimationTal Shima,Steven J.Rasmussen,and Phillip ChandlerAbstractA novel decision-estimation architecture for ateam of agents cooperating under communication imperfec-tions is presented.The scenario of interest is that of a groupof uninhabited aerial vehicles performing cooperative taskassignment under communication delays.In the proposedarchitecture,each UAV in the group runs multiple filters inparallel on:its own states,teammates states,and its statesas viewed by teammates.The estimation of team membersstates allows each UAV to synchronize the transmitted cost ofperforming known tasks,obtained from the different groupmembers,to a common time base.It also enables estimatingthe expected cost for teammates to prosecute new tasks.Thus,the group performance,under communication imperfections,can be improved.For the estimation,two different algorithmsare proposed.The first is communication efficient in whichasynchronous information updates are sent to the network byindividual members based on the value of the informationto the rest of the group.Taking into account that theplan and plant of each UAV are known to the rest of the