| CPC G08G 5/0043 (2013.01) [G08G 5/0013 (2013.01); G08G 5/0026 (2013.01); G08G 5/0069 (2013.01); B64U 2101/20 (2023.01); B64U 2201/00 (2023.01)] | 14 Claims |
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1. A method for controlling an unmanned aerial vehicle (UAV) swarm network comprising:
receiving, at a control terminal, an operator input defining a plurality of network performance directives;
constructing a network control model representing the plurality of network performance directives;
decomposing the network control model into a plurality of sub-models, wherein the decomposition includes one or more of horizontal decomposition of horizontal couplings characterized by cross-node dependencies among variables controlled by different UAVs, vertical decomposition of vertical couplings characterized by cross-layer dependencies among variables controlled by the same UAV but belonging to different layers, or combinations thereof;
generating, via the control terminal, a respective distributed UAV control model corresponding to each of the distributed sub-models;
transmitting the generated distributed UAV control models to each of a plurality of UAVs of the UAV swarm network;
executing, at each of the plurality of UAVs, at least one of the distributed UAV control models; and
changing, responsive to the execution of the distributed UAV control models, an operating condition of at least one of the plurality of UAVs to satisfy the network performance directives by controlling one or more of a flight computer, a motor, a sensor, a camera, a propeller, a fan, an actuator, a servo, a control surface, an antenna, a sensor, a camera, a transceiver, a software-defined radio, a network router, or combinations thereof to change one or more of an altitude of the UAV, a trajectory of the UAV, a velocity of the UAV, an attitude of the UAV, a flight pattern of the UAV, a broadcast power, a transmission pattern, a transmission direction, a receive direction, a receive pattern, a network protocol, or combinations thereof.
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