Formation Control and Target Interception for Multiple Multi-rotor Aerial Vehicles

George C. Karras, Charalampos P. Bechlioulis, George K. Fourlas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages85-92
Number of pages8
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Country/TerritoryGreece
CityAthens
Period9/1/209/4/20

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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