The work herein presents a new approach to aircraft control within a leader-follower formation, and the refinement process used in its development. During autonomous flight, a follower aircraft is tasked to rejoin and maintain a designated formation …
This paper considers a class of cyber-attacks attacking a swarm of Unmanned Aerial Vehicles (UAVs). Our focus is on scenarios wherein an attacker may hack into a subset of vehicles in the swarm and create subtle changes in their parameters. These …
Here we study an optimal control problem involving energy management of a hybrid-fuel Unmanned Aerial Vehicle (UAV). The planning problem for a hybrid-fuel platform involves determining the path while managing the energy resources, which includes a …
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the the …
We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the …
In the ring formation control problem, the follower is designated to approach a ring defined relative to the leader. This type of formation gives the follower more flexibility as it trails the leader. To achieve such formation, the follower’s …
A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the 3-D space. This problem highlights the strong correlation between the highly dynamic scenario, the uncertainty on …
Here we consider the problem of path planning for a hybrid fuel Unmanned Aerial Vehicle (UAV), equipped with both a battery and gasoline generator as two sources of energy. Routing the vehicle while considering this setup adds fuel constraints in …
This paper focuses on optimizing the 3D flight trajectory of a fixed-wing follower aircraft in a leader-follower formation scenario. Instead of a rigid formation, the desired formation is defined as set of points configured as a ring located behind …