Abstract-A new differential game which admits a "closed form" solution is analyzed. In this paper guidance laws are developed to optimally position a relay Micro-UAV (MAV) to provide an operator at the base with real-time Intelligence, Surveillance, and Reconnaissance (ISR) by relaying communication and video signals when the rover MAV performing the ISR mission is out of radio contact range with the base. The ISR system is comprised of two MAVs, the Relay and the Rover, and a Base. The Relay strives to minimize the radio frequency (RF) power required for maintaining communications, while the Rover performs the ISR mission, which may maximize the required RF power. The optimal control of the Relay MAV entails the solution of a differential game. nmanned Aerial Vehicles (UAVs) are prevalent in current military operations. UAVs vary in size and mission. While some UAVs are the same size as aircraft, others are man-portable and can be carried in a backpack. These man-portable Micro-UAVs (MAVs) utilized by small tactical units are not supported by satellite communications and use radio frequency (RF) modems. High frequency radio communications are range limited. The MAVs considered in this paper are utilized for Intelligence, Surveillance and Reconnaissance (ISR) and will therefore be referred to as ISR MAVs or as Rovers [1] . The Base may lose communication (and controllability) with deployed ISR MAVs/Rovers if the Rovers, in the course of performing their mission, stray far away. In this paper guidance laws are developed to optimally position an autonomous Relay MAV to provide the operator at the Base with real-time ISR by relaying communication and sensor data while allowing for extended range Rover operations. The Relay-Rover interaction is modeled as a differential game whose solution yields the optimal Relay strategy. It is assumed that the rElay (E) MAV is cognizant of the rOver's (O) instantaneous position and, obviously, own ship position. As far as the RF power requirements are concerned, this is determined by their distance from the Base
Choi et al. REF developed guidance laws to optimize the position of a Micro-UAV which relayed communication and video signals when the other UAV is out of radio contact range with the base.
Optimal relay UAV guidance-a new differential game
IEEE Conference on Decision and Control and European Control Conference
IEEE Conference on Decision and Control and European Control Conference
Computer Science