Competing Objective Optimization in Networked Swarm Systems

In this paper, we develop a decentralized collaborative sensing algorithm where the sensors are located on-board autonomous unmanned aerial vehicles. We develop this algorithm in the context of a target tracking application, where the objective is to maximize the tracking performance measured by the meansquared error between the target state estimate and the ground truth. … Read more

Mixed-Integer Nonlinear Programming Formulation of a UAV Path Optimization Problem

We present a mixed-integer nonlinear programming (MINLP) formulation of a UAV path optimization problem in an attempt to find the globally optimum solution. As objective functions in UAV path optimization problems typically tend to be non-convex, traditional optimization solvers (typically local solvers) are prone to local optima, which lead to severely sub-optimal controls. For the … Read more