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Open AccessArticle

UAV Formation Shape Control via Decentralized Markov Decision Processes

1
Electrical Engineering, South Dakota School of Mines and Technology, Rapid City, SD 57701, USA
2
School of Mathematical and Statistical Sciences, Arizona State University, Tempe, AZ 85287, USA
*
Author to whom correspondence should be addressed.
Academic Editor: Frank Werner
Algorithms 2021, 14(3), 91; https://doi.org/10.3390/a14030091
Received: 11 February 2021 / Revised: 9 March 2021 / Accepted: 15 March 2021 / Published: 17 March 2021
(This article belongs to the Special Issue Algorithms in Stochastic Models)
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 approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms. View Full-Text
Keywords: swarm intelligence; formation control; decentralized Markov decision process; approximate dynamic programming swarm intelligence; formation control; decentralized Markov decision process; approximate dynamic programming
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MDPI and ACS Style

Azam, M.A.; Mittelmann, H.D.; Ragi, S. UAV Formation Shape Control via Decentralized Markov Decision Processes. Algorithms 2021, 14, 91. https://doi.org/10.3390/a14030091

AMA Style

Azam MA, Mittelmann HD, Ragi S. UAV Formation Shape Control via Decentralized Markov Decision Processes. Algorithms. 2021; 14(3):91. https://doi.org/10.3390/a14030091

Chicago/Turabian Style

Azam, Md A.; Mittelmann, Hans D.; Ragi, Shankarachary. 2021. "UAV Formation Shape Control via Decentralized Markov Decision Processes" Algorithms 14, no. 3: 91. https://doi.org/10.3390/a14030091

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