TY - GEN
T1 - Hierarchical UAV formation control for cooperative surveillance
AU - Sutton, Andrew
AU - Fidan, Baris
AU - Van Der Walle, Dirk
PY - 2008
Y1 - 2008
N2 - In this paper, we analyze the problem of rigidly maintaining a formation of three unmanned aerial vehicles (UAVs), whilst surveying a region of interest following, as a team, a particular pre-defined (spiral) trajectory. The UAVs in the formation are constrained to fly at constant speeds and to maintain certain pre-defined inter-agent distances. A decentralized proportional-integral (PI) control scheme (involving certain nonlinear switching terms) is developed for the surveillance and formation maintenance tasks above, based on a hierarchical (i.e. leader-first follower-second follower) sensing and control structure.
AB - In this paper, we analyze the problem of rigidly maintaining a formation of three unmanned aerial vehicles (UAVs), whilst surveying a region of interest following, as a team, a particular pre-defined (spiral) trajectory. The UAVs in the formation are constrained to fly at constant speeds and to maintain certain pre-defined inter-agent distances. A decentralized proportional-integral (PI) control scheme (involving certain nonlinear switching terms) is developed for the surveillance and formation maintenance tasks above, based on a hierarchical (i.e. leader-first follower-second follower) sensing and control structure.
KW - Cooperative navigation
KW - Multi-vehicle systems
KW - Trajectory tracking and path following
UR - http://www.scopus.com/inward/record.url?scp=79961018458&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.3921
DO - 10.3182/20080706-5-KR-1001.3921
M3 - Conference contribution
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -