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Maximum Kinetic Energy Paths for A Decaying-Speed Dubins Vehicle With Application to Gliding Flight

This paper considers the optimal control problem of steering a Dubins vehicle with a decaying speed that depends linearly on the turn-rate to a terminal point and heading with maximum kinetic energy. Pontryagin's minimum principle is applied and the …

An Optimal Strategy for Off-Board Proximal Sensing of a Target: Part 1

Influence of Malicious Agents in a Team Seeking to Contain an Evader

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower team of pursuers with a nonzero capture …

Policy for Optimal Avoidance of Multiple Engagement Zones

This work formulates the feedback control strategies for vehicles to reach a goal point amongst a field of dynamic risk regions. Whereas previous work has considered deterministic versions of this problem, we consider the scenario in the context of …

An Optimal Strategy for Off-Board Proximal Sensing of a Target: Part 2

In an era of preparation for potential future conflict, it is of utter importance to uncover methods of amplifying crewed aircraft capability with novel un-crewed systems. To further that goal, this work considers a two-agent scenario of a faster, …

A Leader-Follower Control Strategy Built and Refined using Relational Maneuver Primitives for Approximating Optimal Trajectories in Real-Time

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 …

Modeling and Detection of Cyber-Attacks in UAV Swarms using a 2D-LWR Model and Gaussian Processes

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 …

Pure Pursuit of a Target on a Circular Trajectory

Optimal Generator Policy for Hybrid Fuel UAV under Airspace Noise Restrictions

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 …

Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation

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 …