Centralized Cooperative Control for Route Surveillance With Constant Communication

<p>The route surveillance (RS) mission is a new application of unmanned aircraft systems (UASs) to meet the reconnaissance and surveillance needs of combatant commanders. This mission intends to eld a four-vehicle UAS that can provide surveillance of convoy routes. This research focuses on developing a solution strategy based on the application of optimal control and cooperative control theory. The RS controller uses the UAS team size to divide the route into sectors for each entity. A specialized cost function and path constraints are used to formulate an optimal control problem that minimizes revisit time to the route and overall control energy of the UAS. The problem complexity makes an analytical solution di cult so a numerical technique based on the Gauss pseudospectral method is used to solve for the optimal solution.</p><p>This work has been selected by scholars as being culturally important and is part of the knowledge base of civilization as we know it. This work was reproduced from the original artifact and remains as true to the original work as possible. Therefore you will see the original copyright references library stamps (as most of these works have been housed in our most important libraries around the world) and other notations in the work.</p><p>This work is in the public domain in the United States of America and possibly other nations. Within the United States you may freely copy and distribute this work as no entity (individual or corporate) has a copyright on the body of the work.</p><p>As a reproduction of a historical artifact this work may contain missing or blurred pages poor pictures errant marks etc. Scholars believe and we concur that this work is important enough to be preserved reproduced and made generally available to the public. We appreciate your support of the preservation process and thank you for being an important part of keeping this knowledge alive and relevant.</p>