A comparative study of control architectures in UAV/UGV-based surveillance system

Amirreza M. Khaleghi, Dong Xu, Sara Minaeian, Mingyang Li, Yifei Yuan, Jian Liu, Young Jun Son, Christopher Vo, Arsalan Mousavian, Jyh Ming Lien

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations


The goal of this paper is to study the characteristics of various control architectures (e.g. centralized, hierarchical, distributed, and hybrid) for a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in performing collaborative surveillance and crowd control. To this end, an overview of different control architectures is first provided covering their functionalities and interactions. Then, three major functional modules needed for crowd control are discussed under those architectures, including 1) crowd detection using computer vision algorithms, 2) crowd tracking using an enhanced information aggregation strategy, and 3) vehicles motion planning using a graph search algorithm. Depending on the architectures, these modules can be placed in the ground control center or embedded in each vehicle. To test and demonstrate characteristics of various control architectures, a testbed has been developed involving these modules and various hardware and software components, such as 1) assembled UAVs and UGV, 2) a real-time simulator (in Repast Simphony), 3) off-the-shelf ARM architecture computers (ODROID-U2/3), 4) autopilot units with GPS sensors, and 5) multipoint wireless networks using XBee. Experiments successfully demonstrate the pros and cons of the considered control architectures in terms of computational performance in responding to different system conditions (e.g. information sharing).

Original languageEnglish (US)
Title of host publicationIIE Annual Conference and Expo 2014
PublisherInstitute of Industrial Engineers
Number of pages10
ISBN (Electronic)9780983762430
StatePublished - 2014
EventIIE Annual Conference and Expo 2014 - Montreal, Canada
Duration: May 31 2014Jun 3 2014

Publication series

NameIIE Annual Conference and Expo 2014


OtherIIE Annual Conference and Expo 2014


  • Control architecture
  • Crowd control
  • Information aggregation
  • UAV
  • UGV

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Control and Systems Engineering


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