Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
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This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x; y; and z, and in the yaw angle phi. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation
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CitacióBarreiro, J., Mas, I., Ocampo-Martinez, C.A., Sánchez, R.S., Quijano, N. Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games. A: IEEE Conference on Decision and Control. "2016 IEEE 55th Conference on Decision and Control (CDC)". Las Vegas: IEEE Press, 2016, p. 5245-5250.
Versió de l'editorhttp://ieeexplore.ieee.org/document/7799072/