TY - GEN
T1 - Formation Control and Target Interception for Multiple Multi-rotor Aerial Vehicles
AU - Karras, George C.
AU - Bechlioulis, Charalampos P.
AU - Fourlas, George K.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - In this paper, we present a distance-based formation control strategy for multiple multi-rotor aerial vehicles participating in a target interception mission. The target moves arbitrarily, following a smooth 3D trajectory, while the intercepting vehicles aim at establishing a predefined enclosing formation around it, by attaining specific distances among them and simultaneously avoiding inter-agent collisions and connectivity breaks. More specifically, we propose a decentralized motion control protocol based on the prescribed performance control notion, which is of low computational complexity and is able to achieve robust and accurate formation establishment. Each agent requires local and relative state feedback, which can be acquired by a common onboard sensor suite without necessitating for explicit network communication. A realistic simulation study with one target and four multi-rotor interceptors was conducted to prove the efficacy of the proposed strategy.
AB - In this paper, we present a distance-based formation control strategy for multiple multi-rotor aerial vehicles participating in a target interception mission. The target moves arbitrarily, following a smooth 3D trajectory, while the intercepting vehicles aim at establishing a predefined enclosing formation around it, by attaining specific distances among them and simultaneously avoiding inter-agent collisions and connectivity breaks. More specifically, we propose a decentralized motion control protocol based on the prescribed performance control notion, which is of low computational complexity and is able to achieve robust and accurate formation establishment. Each agent requires local and relative state feedback, which can be acquired by a common onboard sensor suite without necessitating for explicit network communication. A realistic simulation study with one target and four multi-rotor interceptors was conducted to prove the efficacy of the proposed strategy.
UR - http://www.scopus.com/inward/record.url?scp=85094974933&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85094974933&partnerID=8YFLogxK
U2 - 10.1109/ICUAS48674.2020.9213887
DO - 10.1109/ICUAS48674.2020.9213887
M3 - Conference contribution
AN - SCOPUS:85094974933
T3 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
SP - 85
EP - 92
BT - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Y2 - 1 September 2020 through 4 September 2020
ER -