Cooperative Unmanned Autonomous Vehicle Control for Spatially Secure Group Communications

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1、870IEEEJOURNALONSELECTEDAREASINCOMMUNICATIONS,VOL.30,NO.5,JUNE2012CooperativeUnmannedAutonomousVehicleControlforSpatiallySecureGroupCommunicationsSeong-WooKimandSeung-WooSeoAbstract—Beyondtheindividualindependentunmannedau-tonomousvehicle(UAV),cooperativecontrolofmultipleUAVshasstartedtoreceivesig

2、nificantattentionfromindustry,academiaandthemilitary.ForthesakeofUAVcooperation,properwirelesscommunicationisimperative,butincursseveralproblems.Amongthem,spatiallysecuregroupcommunication(SSGC),whichmustmaximizespatialUAVgroupsizewhilemin-imizingthecommunicationboundaryofthegroup,isauniqueproblemf

3、ormultipleUAVcontrolfromasecurityperspective.(a)(b)Inparticular,theSSGCproblemmustbeconsideredformilitaryapplicationssuchasmultipleunmannedaerialorgroundvehiclecontrol.Inthispaper,weinvestigatetheSSGCproblem.Toprovideasolution,ananalyticalframeworkisfirstpresentedtomodelthedynamicsofmultipleUAVsand

4、SSGC.Thetheoreticalanalysisandsimulationresultsregardinghowcommunicationaffectsgroupdynamicsandspatialcommunicationsecurityarealsodiscussed.OurcontributionistosuggestanewwaytoviewmultipleUAVcontrolwithspatiallysecurecommunication,andtoprovideadistributedmethodtoaddresstheproblemcooperatively.(c)(d

5、)IndexTerms—Collectivebehavior,distributedcontrol,multi-agentsystem,securegroupcommunication,self-organizingsys-Fig.1.Conceptofspatiallysecuregroupcommunicationproblem.tem,unmannedautonomousvehicle.groupmobilityandattractpredators.Tobalancethetrade-I.INTRODUCTIONoffs,thegrouphastomakedecisionsthat

6、optimizegroupHANKStorecenttechnologicaladvances,manytypesofsize,formationandmovementstrategy[8],[9].ForoptimalTunmannedground,aerialorsurfacevehicleshavebeendecisions,communicationisakeyfactorindecidinggroupdeveloped,andhavebeguntobedeployedincomplexrealdynamicsthatdeterminetheshapeandsizeofthegro

7、up.Itworldenvironments.Ithasbeendemonstratedthatunmannedhasbeenshownthatacommunicationschemeneedstobegroundvehiclescanmaneuvereveninurbanareaswhileadoptedtoincreasetheaggregatedmaneuverabilityofmobilecomplyingwit