Buchumschlag

Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles

This work tackles the problem of integrating a pursuit-evasion game (PEG) in a recursive nested behavioral control (RNBC) structure for unmanned aerial vehicles (UAV). The UAV agents' architecture is the RNBC structure, considering that the collision avoidance, velocity control and attitude con...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Alexopoulos, Alexander (VerfasserIn) , Schmidt, Tobias (VerfasserIn) , Badreddin, Essameddin (VerfasserIn)
Dokumenttyp: Kapitel/Artikel Konferenzschrift
Sprache:Englisch
Veröffentlicht: 18 December 2014
In: 14th International Conference on Control, Automation and Systems (ICCAS), 2014
Year: 2014, Pages: 1175-1180
DOI:10.1109/ICCAS.2014.6987737
Online-Zugang:Verlag, kostenfrei, Volltext: https://ieeexplore.ieee.org/document/6987737
Resolving-System, kostenfrei, Volltext: http://dx.doi.org/10.1109/ICCAS.2014.6987737
Volltext
Verfasserangaben:Alexander Alexopoulos, Tobias Schmidt and Essameddin Badreddin

MARC

LEADER 00000caa a2200000 c 4500
001 1665833432
003 DE-627
005 20220816153846.0
007 cr uuu---uuuuu
008 190516s2014 xx |||||o 00| ||eng c
024 7 |a 10.1109/ICCAS.2014.6987737  |2 doi 
035 |a (DE-627)1665833432 
035 |a (DE-599)KXP1665833432 
035 |a (OCoLC)1341224905 
040 |a DE-627  |b ger  |c DE-627  |e rda 
041 |a eng 
084 |a 28  |2 sdnb 
100 1 |a Alexopoulos, Alexander  |e VerfasserIn  |0 (DE-588)1136338624  |0 (DE-627)89265435X  |0 (DE-576)490444830  |4 aut 
245 1 0 |a Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles  |c Alexander Alexopoulos, Tobias Schmidt and Essameddin Badreddin 
264 1 |c 18 December 2014 
300 |a 6 
336 |a Text  |b txt  |2 rdacontent 
337 |a Computermedien  |b c  |2 rdamedia 
338 |a Online-Ressource  |b cr  |2 rdacarrier 
500 |a Gesehen am 16.05.2019 
520 |a This work tackles the problem of integrating a pursuit-evasion game (PEG) in a recursive nested behavioral control (RNBC) structure for unmanned aerial vehicles (UAV). The UAV agents' architecture is the RNBC structure, considering that the collision avoidance, velocity control and attitude control are already implemented behaviors in this structure. The new high-level behaviors pursuit and evasion are introduced, describing the PEG and providing an appropriate reference velocity vector for the underlying layers of the RNBC structure of the pursuer and the evader, respectively. The reference velocities for the agents are determined by solving the pursuit-evasion problem in a game-theoretical manner, while collision avoidance behavior is implemented one level below. The repulsion force approach is used as collision avoidance technique and provides a velocity vector, which is added to the reference velocity vector of the upper level, if there is a collision risk. The resulting reference input is processed by the subjacent layers in the RNBC structure of the UAV. In simulations it is shown that this approach provides a collision-free pursuit-evasion between UAV agents with dynamic constraints in a general three-dimensional environment with previously unknown obstacles. 
650 4 |a attitude control 
650 4 |a Attitude control 
650 4 |a autonomous aerial vehicles 
650 4 |a collision avoidance 
650 4 |a Collision avoidance 
650 4 |a collision avoidance behavior 
650 4 |a collision-free pursuit-evasion problem 
650 4 |a dynamic non-cooperative games 
650 4 |a evader RNBC structure 
650 4 |a game theory 
650 4 |a high-level behaviors 
650 4 |a PEG 
650 4 |a pursuer RNBC structure 
650 4 |a pursuit-evasion game 
650 4 |a pursuit-evasion games 
650 4 |a recursive nested behavioral control structure 
650 4 |a reference velocity vector 
650 4 |a repulsion force approach 
650 4 |a system architectures 
650 4 |a UAV agent architecture 
650 4 |a unmanned aerial vehicles 
650 4 |a velocity control 
700 1 |a Schmidt, Tobias  |e VerfasserIn  |0 (DE-588)1046656457  |0 (DE-627)776824058  |0 (DE-576)39997606X  |4 aut 
700 1 |a Badreddin, Essameddin  |e VerfasserIn  |0 (DE-588)1136732853  |0 (DE-627)893510246  |0 (DE-576)490797644  |4 aut 
773 0 8 |i Enthalten in  |t 14th International Conference on Control, Automation and Systems (ICCAS), 2014  |d Piscataway, NJ : IEEE, 2014  |g (2014), Seite 1175-1180  |h Online-Ressource  |w (DE-627)818667133  |w (DE-576)9818667131  |z 9781479960514  |z 8993215065  |z 1479960519  |z 9788993215069  |z 9781479960514  |7 nnam  |a Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles 
773 1 8 |g year:2014  |g pages:1175-1180  |g extent:6  |a Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles 
856 4 0 |u https://ieeexplore.ieee.org/document/6987737  |x Verlag  |z kostenfrei  |3 Volltext 
856 4 0 |u http://dx.doi.org/10.1109/ICCAS.2014.6987737  |x Resolving-System  |z kostenfrei  |3 Volltext 
951 |a AR 
992 |a 20190516 
993 |a ConferencePaper 
994 |a 2014 
998 |g 1136732853  |a Badreddin, Essameddin  |m 1136732853:Badreddin, Essameddin  |d 700000  |d 720000  |e 700000PB1136732853  |e 720000PB1136732853  |k 0/700000/  |k 1/700000/720000/  |p 3  |y j 
998 |g 1046656457  |a Schmidt, Tobias  |m 1046656457:Schmidt, Tobias  |d 700000  |d 720000  |e 700000PS1046656457  |e 720000PS1046656457  |k 0/700000/  |k 1/700000/720000/  |p 2 
998 |g 1136338624  |a Alexopoulos, Alexander  |m 1136338624:Alexopoulos, Alexander  |d 700000  |d 720000  |e 700000PA1136338624  |e 720000PA1136338624  |k 0/700000/  |k 1/700000/720000/  |p 1  |x j 
999 |a KXP-PPN1665833432  |e 3476604705 
BIB |a Y 
JSO |a {"name":{"displayForm":["Alexander Alexopoulos, Tobias Schmidt and Essameddin Badreddin"]},"id":{"doi":["10.1109/ICCAS.2014.6987737"],"eki":["1665833432"]},"origin":[{"dateIssuedKey":"2014","dateIssuedDisp":"18 December 2014"}],"relHost":[{"part":{"year":"2014","pages":"1175-1180","text":"(2014), Seite 1175-1180","extent":"6"},"recId":"818667133","language":["eng"],"corporate":[{"display":"Chengŏ-Robot-Sisŭt'em-Hakhoe","role":"oth"}],"disp":"Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles14th International Conference on Control, Automation and Systems (ICCAS), 2014","note":["\"In conjunction with KRC, Robot World 2014","\"IEEE Catalog Number: CFP1410D-USB","Includes bibliographical references and author index"],"type":{"bibl":"edited-book","media":"Online-Ressource"},"title":[{"subtitle":"22 - 25 Oct. 2014, Gyenggi-do, Seoul, Korea","title":"14th International Conference on Control, Automation and Systems (ICCAS), 2014","title_sort":"14th International Conference on Control, Automation and Systems (ICCAS), 2014"}],"physDesc":[{"extent":"Online-Ressource"}],"id":{"eki":["818667133"],"isbn":["9781479960514","8993215065","1479960519","9788993215069","9781479960514"]},"origin":[{"publisherPlace":"Piscataway, NJ","publisher":"IEEE","dateIssuedKey":"2014","dateIssuedDisp":"2014"}],"name":{"displayForm":["ICROS, Institute of Control, Robotics and Systems"]}}],"physDesc":[{"extent":"6 S."}],"person":[{"role":"aut","display":"Alexopoulos, Alexander","roleDisplay":"VerfasserIn","given":"Alexander","family":"Alexopoulos"},{"roleDisplay":"VerfasserIn","display":"Schmidt, Tobias","role":"aut","family":"Schmidt","given":"Tobias"},{"role":"aut","roleDisplay":"VerfasserIn","display":"Badreddin, Essameddin","given":"Essameddin","family":"Badreddin"}],"title":[{"title_sort":"Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles","title":"Pursuit and evasion in a recursive nested behavioral control structure for unmanned aerial vehicles"}],"language":["eng"],"recId":"1665833432","note":["Gesehen am 16.05.2019"],"type":{"media":"Online-Ressource","bibl":"chapter"}} 
SRT |a ALEXOPOULOPURSUITAND1820 

Ähnliche Einträge