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

doi:10.1109/TASE.2015.2406758

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 journal › Article › peer-review

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 language	English (US)
Article number	7065327
Pages (from-to)	945-957
Number of pages	13
Journal	IEEE Transactions on Automation Science and Engineering
Volume	12
Issue number	3
DOIs	https://doi.org/10.1109/TASE.2015.2406758
State	Published - Jul 1 2015

Keywords

Consensus algorithms
networked systems
time-coordinated path following

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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Cooperative Path Following of Multiple Multirotors over Time-Varying Networks. / Cichella, Venanzio; Kaminer, Isaac; Dobrokhodov, Vladimir; Xargay, Enric; Choe, Ronald; Hovakimyan, Naira; Aguiar, A. Pedro; Pascoal, Antonio M.

In: IEEE Transactions on Automation Science and Engineering, Vol. 12, No. 3, 7065327, 01.07.2015, p. 945-957.

Research output: Contribution to journal › Article › peer-review

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