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

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Download the digital copy of the doc pdf document

Authors

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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.