The number of small, inexpensive Unmanned Air Vehicles (UAV'S) increasing, it is feasible to build multi-UAV sensing networks. In particular, by using UAV's in conjuction with unattended ground sensors, a degree of persistent sensing can be achieved. With proper UAV cooperation algorithms, sensing in maintained even though exceptional events, e.g., the loss of a UAV, have occurred. In this paper a cooperation technique that allows multiple UAVs to perform coordinated, persistent sensing with unattended ground sensors over a wide area is described. The technique automatically adapts the UAV paths so that on the average, the amount of time that any sensor has to wait for a UAV revisit is minimized. We also describe the Simulation, Tactical Operations and Mission Planning (STOMP) software architecture. This architecture is designed to help simulate and operate distributed sensor networks where multiple UAVs are used to collect data.
UAV Cooperation Architectures for Persistent Sensing
2003
18 pages
Report
Keine Angabe
Englisch
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