TY - JOUR
T1 - Cooperative Path Following of Multiple Multirotors over Time-Varying Networks
AU - Cichella, Venanzio
AU - Kaminer, Isaac
AU - Dobrokhodov, Vladimir
AU - Xargay, Enric
AU - Choe, Ronald
AU - Hovakimyan, Naira
AU - Aguiar, A. Pedro
AU - Pascoal, Antonio M.
PY - 2015/7/1
Y1 - 2015/7/1
N2 - 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.
AB - 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.
KW - Consensus algorithms
KW - networked systems
KW - time-coordinated path following
UR - http://www.scopus.com/inward/record.url?scp=84973504289&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973504289&partnerID=8YFLogxK
U2 - 10.1109/TASE.2015.2406758
DO - 10.1109/TASE.2015.2406758
M3 - Article
AN - SCOPUS:84973504289
VL - 12
SP - 945
EP - 957
JO - IEEE Transactions on Automation Science and Engineering
JF - IEEE Transactions on Automation Science and Engineering
SN - 1545-5955
IS - 3
M1 - 7065327
ER -