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Title: Coordinated trajectory planning for efficient communication relay using multiple UAVs
Authors: Kim, Seungkeun
Oh, Hyondong
Suk, Jinyoung
Tsourdos, Antonios
Keywords: Unmanned aerial vehicles
Communications relay
Trajectory planning
Global message connectivity
Minimum spanning tree
Issue Date: 2014
Publisher: © Elsevier Ltd
Citation: KIM, S. ... et al, 2014. Coordinated trajectory planning for efficient communication relay using multiple UAVs. Control Engineering Practice, 29, pp. 42 - 49.
Abstract: This paper investigates the use of small UAVs as communication relay nodes for expanding communication links and improving communication quality for a fleet of naval vessels. This paper firstly deals with the UAV deployment for stationary communication nodes, and then, proposes a decentralised nonlinear model predictive trajectory planning strategy for a dynamic environment. By exploiting motion estimates of vessels and states of UAVs, the trajectory planning algorithm finds a control input sequence optimising network connectivity over a certain time horizon. Numerical simulations are performed for both stationary and manoeuvring vessels to verify the feasibility and benefit of the proposed approach.
Description: This paper was published in the journal Control Engineering Practice [© Elsevier Ltd]. The definitive version is available at: http://dx.doi.org/10.1016/j.conengprac.2014.04.003.
Version: Accepted for publication
DOI: 10.1016/j.conengprac.2014.04.003
URI: https://dspace.lboro.ac.uk/2134/17842
Publisher Link: http://dx.doi.org/10.1016/j.conengprac.2014.04.003
ISSN: 0967-0661
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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