Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies

Hyungsoo Kang, Hyung Jin Yoon, Venanzio Cichella, Naira Hovakimyan, Petros Voulgaris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communication between UAVs is bidirectional. Thus, the topology of the inter-UAV information flow can be characterized by digraphs. To achieve coordination with weak connectivity, we design a switching law that orchestrates switching between jointly connected digraph topologies. In accordance with the law, the UAVs with a transmitter switch the topology of their coordination information flow. A Lyapunov analysis shows that a decentralized coordination controller steers coordination errors to a neighborhood of zero. Simulation results illustrate that the algorithm attains coordination objectives with significantly reduced inter-UAV communication compared to previous work.

Original languageEnglish (US)
Title of host publication60th IEEE Conference on Decision and Control, CDC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5964-5969
Number of pages6
ISBN (Electronic)9781665436595
DOIs
StatePublished - 2021
Event60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States
Duration: Dec 13 2021Dec 17 2021

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2021-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference60th IEEE Conference on Decision and Control, CDC 2021
Country/TerritoryUnited States
CityAustin
Period12/13/2112/17/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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