This dissertation focuses on the collaborative control of homogeneous UAV swarms. A two-level scheme is proposed by combining the high-level path planning and the lowlevel vehicle motion control. A decentralized artificial potential function (APF) based approach, which mimics the bacteria foraging process, is studied for the high-level path planning. The deterministic potential based approach, however, suffers from the local minima entrapment dilemma, which motivate us to fix the “flaw” that is naturally embedded. An innovative decentralized stochastic approach based on the…
Author: Xi, Wei
Source: University of Maryland
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