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Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
This paper addresses the problem of cooperative path planning for a fleet of UAVs. The paths are optimized to account for uncertainty/adversaries in the environment by modeling the probability of UAV loss. The approach extends prior work by coupling the failure probabilities for each UAV to the selected missions for all other UAVs. In order to maximize the expected mission score, this stochastic formulation designs coordination plans that optimally exploit the coupling effects of cooperationdoi:10.1109/cdc.2002.1184270 fatcat:w5erwtyasrf6valio46vtns5ju