Dynamic allocation and control of coordinated UAVs to engage multiple targets in a time-optimal manner

This paper presents the real-time control of cooperative Unmanned Air Vehicles (UAVs) that dynamically engage multiple targets in a time-optimal manner. Techniques to dynamically allocate vehicles to targets and to subsequently find the time-optimal control actions are proposed. The decentralization of the proposed control strategy is further presented such that the vehicles can be controlled in real-time without significant time delay. The proposed strategy is then applied to various practical battlefield problems, and numerical results show the efficiency of the proposed strategy.