Time Optimal Robust Fleet Management of Micro UAV Through Timed Games Formulation
Henrik Schiøler, Luminita Cristiana Totu, Jan Dimon Bendtsen, Kim G. Larsen, Jakob Haahr Taankvist · 2018 IEEE Conference on Control Technology and Applications (CCTA) · 2018
We consider the case of fleet management of a moderate number of Unmanned Aerial Vehicles (UAV or UAS) in confined space, e.g. indoor. Indoor operation of UAVs requires indoor localization capabilities as well as a sufficiently precise 3D map of the facility, whereas fleet management of multiple UAV adds an extra dimension of complexity. Additional complexity is mainly introduced by constraints ensuring collision free operation. Based on earlier work on mapping, path planning and localization we suggest fleet management through a Timed Game formulation and Winning Strategy controller synthesis using the tool Uppaal Tiga.