Distributed Estimation and Control for Jamming an Aerial Target With Multiple Agents
arXiv:2305.13919 · doi:10.1109/TMC.2022.3207589
Abstract
This work proposes a distributed estimation and control approach in which a team of aerial agents equipped with radio jamming devices collaborate in order to intercept and concurrently track-and-jam a malicious target, while at the same time minimizing the induced jamming interference amongst the team. Specifically, it is assumed that the malicious target maneuvers in 3D space, avoiding collisions with obstacles and other 3D structures in its way, according to a stochastic dynamical model. Based on this, a track-and-jam control approach is proposed which allows a team of distributed aerial agents to decide their control actions online, over a finite planning horizon, to achieve uninterrupted radio-jamming and tracking of the malicious target, in the presence of jamming interference constraints. The proposed approach is formulated as a distributed model predictive control (MPC) problem and is solved using mixed integer quadratic programming (MIQP). Extensive evaluation of the system's performance validates the applicability of the proposed approach in challenging scenarios with uncertain target dynamics, noisy measurements, and in the presence of obstacles.
arXiv commentIEEE Transactions on Mobile Computing 2023
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- Cooperative Receding Horizon 3D Coverage Control with a Team of Networked Aerial Agents
- Synergising Human-like Responses and Machine Intelligence for Planning in Disaster Response
- Jointly-optimized Trajectory Generation and Camera Control for 3D Coverage Planning
- Joint Estimation and Control for Multi-Target Passive Monitoring with an Autonomous UAV Agent