Cooperative Path Following of Multiple Multirotors over Time-Varying Networks

Venanzio Cichella, Isaac Kaminer, Vladimir Dobrokhodov, Enric Xargay, Ronald Choe, Naira Hovakimyan, A. Pedro Aguiar, Antonio M. Pascoal

Research output: Contribution to journalArticle

Abstract

This paper addresses the problem of time-coordination of a team of cooperating multirotor unmanned aerial vehicles that exchange information over a supporting time-varying network. A distributed control law is developed to ensure that the vehicles meet the desired temporal assignments of the mission, while flying along predefined collision-free paths, even in the presence of faulty communication networks, temporary link losses, and switching topologies. In this paper, the coordination task is solved by reaching consensus on a suitably defined coordination state. Conditions are derived under which the coordination errors converge to a neighborhood of zero. Simulation and flight test results are presented to validate the theoretical findings.

Original languageEnglish (US)
Article number7065327
Pages (from-to)945-957
Number of pages13
JournalIEEE Transactions on Automation Science and Engineering
Volume12
Issue number3
DOIs
StatePublished - Jul 1 2015

    Fingerprint

Keywords

  • Consensus algorithms
  • networked systems
  • time-coordinated path following

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Cichella, V., Kaminer, I., Dobrokhodov, V., Xargay, E., Choe, R., Hovakimyan, N., Aguiar, A. P., & Pascoal, A. M. (2015). Cooperative Path Following of Multiple Multirotors over Time-Varying Networks. IEEE Transactions on Automation Science and Engineering, 12(3), 945-957. [7065327]. https://doi.org/10.1109/TASE.2015.2406758