Publication

Distributed data-driven UAV formation control via evolutionary games: Experimental results

Journal Article (2021)

Journal

Journal of the Franklin Institute

Pages

5334-5352

Volume

358

Number

10

Doc link

https://doi.org/10.1016/j.jfranklin.2021.05.002

File

Download the digital copy of the doc pdf document

Abstract

This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance.

Categories

automation, control theory, optimisation.

Author keywords

Data-driven control, evolutionary dynamics, game theory, mobile robots, formation control, UAVs, real implementation

Scientific reference

J. Barreiro-Gomez, I. Mas, J. Giribet, P. Moreno, C. Ocampo-Martínez, R. Sanchez and N. Quijano. Distributed data-driven UAV formation control via evolutionary games: Experimental results. Journal of the Franklin Institute, 358(10): 5334-5352, 2021.