Publication
Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
Conference Article
Conference
IEEE Conference on Decision and Control (CDC)
Edition
55th
Pages
5245-5250
Doc link
https://dx.doi.org/10.1109/CDC.2016.7799072
File
Authors
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Barreiro-Gomez, Julian
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Mas , Ignacio
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Ocampo Martínez, Carlos A.
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Sánchez Peña, Ricardo
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Quijano Silva, Nicanor
Projects associated
Abstract
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.
Categories
control theory, multi-robot systems.
Author keywords
unmanned aerial vehicles, distributed formation control, population games, replicator dynamics, time-varying communication network
Scientific reference
J. Barreiro-Gomez, I. Mas, C. Ocampo-Martínez, R. Sánchez Peña and N. Quijano. Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games, 55th IEEE Conference on Decision and Control, 2016, Las Vegas, EEUU, pp. 5245-5250, IEEE.
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