Optimal Multi-UAV Convoy Protection
Xukai Ding, Amir Reza Rahmani, Magnus Egerstedt · 2009
In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant altitude. Due to kinematic constraints of the UAVs, it is not possible for a sing