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 journalArticlepeer-review


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
Issue number3
StatePublished - Jul 1 2015


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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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