Cooperative Path-Following of Multiple Multirotors over Time-Varying Networks
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Authors
Cichella, V.
Kaminer, I.I.
Dobrokhodov, V.N.
Xargay, E.M.
Choe, R.
Hovakimyan, N.
Aguiar, A.P.
Pascoa,l A.M.
Subjects
Advisors
Date of Issue
2015-07
Date
July 2015
Publisher
IEEE
Language
Abstract
This paper addresses the problem of time-coordina- tion of a team of cooperating multirotor unmanned aerial vehicles that exchange information over a supporting time-varying net- work. 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 pres- ence 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.
Type
Article
Description
The article of record as published may be found at https://doi.org/10.1109/TASE.2015.2406758
Series/Report No
Department
Organization
Center for Autonomous Vehicle Research (CAVR)
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Citation
Cichella V., Kaminer I.I., Dobrokhodov V.N., Xargay E.M., Choe R., Hovakimyan N., Aguiar A.P., Pascoal A.M.,” Cooperative Path-Following of Multiple Multirotors over Time-Varying Networks,” in special issue of the IEEE Transactions on Automation Science and Engineering, vol 12, issue 3, pp 945-957, July 2015.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.