Time Optimal Robust Fleet Management of Micro UAV through Timed Games Formulation

Henrik Schioler1, Jan Dimon Bendtsen1, Luminita C. Totu, Kim Larsen, Jakob Haahr Taankvist

  • 1Aalborg University

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Regular Session

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10:00 - 12:00 | Wed 22 Aug | Kronborg | WeA5

Aerospace

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Abstract

We consider the case of fleet management of a moderate number of Unmanned Aerial Vehicles (UAV or UAS) in confined space, e.g. indoor. Indoor operation of UAV is requires indoor localization capabilities as well as a sufficiently precise 3D map of the facility, whereas fleet management of multiple UAV adds an extra dimension of complexity. Additional complexity is mainly introduced by constraints ensuring collision free operation. Based on earlier work on mapping, path planning and localization we suggest fleet management through a Timed Game formulation and Winning Strategy controller synthesis using the tool Uppaal-Tiga.

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