Cooperative control of UAVs

The cooperative control problem of minimizing the cumulative exposure of UAVs to a tracking radar is examined. An analytic solution yielding the trajectory that minimizes the radar energy reflected from the target has been obtained using the Calculus of Variations.' The analytic results for one aircraft are extended to address cooperative control problems of multiple uninhabited air vehicles versus one radar. The problem of one aircraft versus multiple radars is also addressed using a variational approach, as well as a minimax argument. The results are compared to other path planning methods for radar exposure minimization, specifically the use of Voronoi diagrams.