Committee Chair

Pack, Daniel J.

Committee Member

Wang, Jin; Tanis, Craig; Wu, Dalei

Department

Dept. of Computational Engineering

College

College of Engineering and Computer Science

Publisher

University of Tennessee at Chattanooga

Place of Publication

Chattanooga (Tenn.)

Abstract

Algebraic connectivity is the second-smallest eigenvalue of the Laplacian matrix and can be used as a metric for the robustness and efficiency of a network. This connectivity concept applies to teams of multiple unmanned aerial vehicles (UAVs) performing cooperative tasks, such as arriving at a consensus. As a UAV team completes its mission, it often needs to control the network connectivity. The algebraic connectivity can be controlled by altering edge weights through movement of individual UAVs in the team, or by adding and deleting edges. The addition and deletion problem for algebraic connectivity, however, is NP-hard. The contributions of this work are 1) a comparison of four heuristic methods for modifying algebraic connectivity through the addition and deletion of edges, 2) a rule-based algorithm for tracking a connectivity profile through edge weight modification and the addition and deletion of edges, 3) a new, hybrid method for selecting the best edge to add or remove, 4) a distributed method for estimating the eigenvectors of the Laplacian matrix and selecting the best edge to add or remove for connectivity modification and tracking, and 5) an implementation of the distributed connectivity tracking using a consensus controller and double-integrator dynamics.

Degree

Ph. D.; A dissertation submitted to the faculty of the University of Tennessee at Chattanooga in partial fulfillment of the requirements of the degree of Doctor of Philosophy.

Date

8-2019

Subject

Drone aircraft -- Scientific applications

Keyword

Algebraic connectivity; Connectivity tracking; UAV; UAS

Document Type

Doctoral dissertations

Extent

xi, 100 leaves

Language

English

Rights

Under copyright.

License

http://creativecommons.org/licenses/by/4.0/

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