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UAV Formation Shape Control via Decentralized Markov Decision Processes
Md Ali Azam (azam.ete.ruet Abstract: In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to solve the formation control problem approximately. We perform numerical studies in MATLAB to validate the performance of the above control algorithms. Keywords: swarm intelligence; formation control; decentralized Markov decision process; approximate dynamic programming Category 1: Applications -- Science and Engineering Citation: Download: [PDF] Entry Submitted: 02/11/2021 Modify/Update this entry | ||
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