Autonomous Control ofMultiple UAVsforthe Passive Location ofRadars
Jeremy Fazackerley · 2005
This paperdescribes an algorithm that hasbeenusedforthe autonomouscontrol ofmultiple UAVstasked withthehighlevel objective oflocating a radar subject toa numberofreal world constraints. Thedistributed, fully autonomous,cooperative control ofthemultiple UAVsystemwas executed using sensor input froma heterogenous network ofminiaturised Electronic Surveillance (ES)payloads. AnESsensoronboard one UAV detected a radar target andcross-cued ESreceivers onboard twootherUAVs.Basedon theinformation shared between these UAVsthetargetradar was approximately located by eachUAV OncetheUAVshadcoarsely located thetarget theyautonomously, dynamically, andcontinuously adapted theirflight trajectories toprogressively improve theaccuracy withwhichthey were able toco-operatively locate theradar target. TheUAVswere abletoaccurately locate theradar while simultaneously avoiding no-fly zones,one another and remaining within communication range.