TY - GEN
T1 - Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
AU - Kang, Hyungsoo
AU - Yoon, Hyung Jin
AU - Cichella, Venanzio
AU - Hovakimyan, Naira
AU - Voulgaris, Petros
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85126003552&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85126003552&partnerID=8YFLogxK
U2 - 10.1109/CDC45484.2021.9683619
DO - 10.1109/CDC45484.2021.9683619
M3 - Conference contribution
AN - SCOPUS:85126003552
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5964
EP - 5969
BT - 60th IEEE Conference on Decision and Control, CDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -