The maximum surveillance of a target which is holding course is considered, wherein an observer vehicle aims to maximize the time that a faster target remains within a fixed-range of the observer. This entails two coupled phases: an approach phase …
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a fixed final …
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 …
In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First, the …
In this work, a continuous monitoring scenario where multiple unmanned aerial vehicles are tasked to monitor a dynamic target moving along a path with unknown speed profile is addressed. Optimal trajectories based on the nominal trajectory of the …
A framework for monitoring a target modeled as Dubins car using multiple UAVs is proposed. The UAVs are subject to minimum and maximum speed, maximum angular rate constraints, as well as inter-vehicle safety requirements and no-fly-zones. The problem …