Book Chapter

Uav swarms: Models and effective interfaces

A Chapman, M Mesbahi

Handbook of Unmanned Aerial Vehicles | Published : 2015

Abstract

This chapter examines modeling and the design of effective control interfaces, for human operators, of unmanned aerial vehicle (UAV) swarms. The swarm is modeled as a two-component hierarchical system consisting of the interaction dynamics among the UAVs in the swarm, referred to as the network dynamics, and the UAV dynamics itself. Human operators are assumed to be able to interface with the swarm via the network dynamics, which in turn has adopted a leader-follower consensus model. The system-theoretic and topological features of the network dynamics are then examined in order to design effective mechanisms for interfacing with the swarm. Specifically, the open loop H2 norm of the network ..

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University of Melbourne Researchers

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