TY - GEN
T1 - Non-hierarchical UAV formation control for surveillance tasks
AU - Van Der Walle, Dirk
AU - Fidan, Bariş
AU - Sutton, Andrew
AU - Yu, Changbin
AU - Anderson, Brian D.O.
PY - 2008
Y1 - 2008
N2 - In this paper, we consider motion and formation control of a team of three unmanned aerial vehicles (UAVs) for a particular surveillance task. The UAVs are required to fly in an equilateral triangle formation (to optimize target location estimation accuracy), with the centre of mass following a nominated (spiral) trajectory, which reflects the constraints on the turning radius of the flight paths. Furthermore, the UAVs need to fly at constant and nearly (but not necessarily exactly) the same speeds. A decentralized control scheme is designed and analyzed for the above motion and formation control tasks, based on a non-hierarchical (i.e. three-coleader) sensing/control structure.
AB - In this paper, we consider motion and formation control of a team of three unmanned aerial vehicles (UAVs) for a particular surveillance task. The UAVs are required to fly in an equilateral triangle formation (to optimize target location estimation accuracy), with the centre of mass following a nominated (spiral) trajectory, which reflects the constraints on the turning radius of the flight paths. Furthermore, the UAVs need to fly at constant and nearly (but not necessarily exactly) the same speeds. A decentralized control scheme is designed and analyzed for the above motion and formation control tasks, based on a non-hierarchical (i.e. three-coleader) sensing/control structure.
UR - http://www.scopus.com/inward/record.url?scp=52449090059&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4586587
DO - 10.1109/ACC.2008.4586587
M3 - Conference contribution
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 777
EP - 782
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -