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This paper describes a multi-static radar network composed of multiple Unmanned Air Vehicles (UAVs). Time-delay and Doppler measurements taken by the UAV team are passed to a centralized processor to determine optimal heading commands for the UAV team to reduce tracking error. However, due to power and communication constraints on the UAVs, the optimal heading could cause individual UAVs or perhaps the entire network to become disconnected from the base station. In this paper, the authors ensure that the UAV team remains connected to the base by adding a connectivity constraint to the optimization criterion.
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