Agreement strategies for cooperative control of uninhabited autonomous vehicles
Sannasi Ganapathy, Kevin M. Passino · 2004
We introduce a mathematical model for cooperative control problems for multiple uninhabited autonomous vehicles (UAVs). Then, we introduce a computationally tractable strategy for cooperative decision making. We also identify a type of optimal agreement strategy, discuss its complexity, and compare, via Monte Carlo simulations, its performance to our computationally tractable approach. This shows that our heuristic approach compares favorably with an optimal solution, yet is scalable for more sophisticated cooperative control problems. In the final part of the paper, we overview our recent work in using our approach here to develop agreement strategies for a new model.