@inproceedings{952dfe464c3046c78cbb7d07400ac83a,
title = "Information energy for sensor-reactive UAV flock control",
abstract = "A Sensor Flock is described, consisting of many small UAVs which move according to decentralized potential gradient guidance laws designed to cause improvement in sensed data quality. Information Energy potentials are defined to include terms for sensed data quality, mechanical energy loss due to motion, and quality-of-service for inter-vehicle communication. Examples are provided showing that a 147 vehicle flock autonomously produces desired behavior under suitable choices of parameters in the Information Energy function. A portion of the flock clusters in regions of high data signalto-noise ratio, while other vehicles maintain communication links to a base station, and still other vehicles spread out to cover unsensed areas within a specified coverage volume. Applications in toxic plume characterization and atmospheric science are discussed.",
author = "Lawrence, {Dale A.} and Donahue, {Ryan E.} and Kamran Mohseni and Richard Han",
year = "2004",
doi = "10.2514/6.2004-6530",
language = "English",
isbn = "1563477173",
series = "Collection of Technical Papers - AIAA 3rd {"}Unmanned-Unlimited{"} Technical Conference, Workshop, and Exhibit",
publisher = "American Institute of Aeronautics and Astronautics",
pages = "631--644",
booktitle = "Collection of Technical Papers - AIAA 3rd {"}Unmanned-Unlimited{"} Technical Conference, Workshop, and Exhibit",
address = "United States",
note = "Collection of Technical Papers - AIAA 3rd {"}Unmanned-Unlimited{"} Technical Conference, Workshop, and Exhibit ; Conference date: 20-09-2004 Through 23-09-2004",
}