Journal ArticleDOI
Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
TLDR
Based on the common Lyapunov functional approach and algebraic Riccati equation technique, an approach to design the formation protocol is presented in this paper, where an explicit expression of the formation reference function is derived to describe the macroscopic movement of the whole UAV formation.About:
This article is published in Control Engineering Practice.The article was published on 2016-01-01. It has received 261 citations till now. The article focuses on the topics: Algebraic Riccati equation.read more
Citations
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Journal ArticleDOI
Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying
TL;DR: Time-varying formation tracking analysis and design problems for second-order Multi-Agent systems with switching interaction topologies are studied, and a formation tracking protocol is constructed based on the relative information of the neighboring agents.
Journal ArticleDOI
A Survey on Aerial Swarm Robotics
TL;DR: The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping, and dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing.
Journal ArticleDOI
Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles
TL;DR: The design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields are summarized and trends of the fuzzy future in Marine robotic vehicles are concluded based on its state of the art.
Journal ArticleDOI
Theory and Experiment on Formation-Containment Control of Multiple Multirotor Unmanned Aerial Vehicle Systems
TL;DR: A distributed formation-containment protocol for the multi-UAV system using local neighboring information is proposed and it is proven that the states of followers not only converge to the convex hull formed by those of leaders but also keep certain formation specified by the conveX combination of the formation for the leaders.
Journal ArticleDOI
Design Challenges of Multi-UAV Systems in Cyber-Physical Applications: A Comprehensive Survey and Future Directions
Reza Shakeri,Mohammed Ali Al-Garadi,Ahmed Badawy,Amr Mohamed,Tamer Khattab,Abdulla Al-Ali,Khaled A. Harras,Mohsen Guizani +7 more
TL;DR: This survey aims to pinpoint the most fundamental and important design challenges of multi-UAV systems for CPS applications, highlighting key and versatile aspects that span the coverage and tracking of targets and infrastructure objects, energy-efficient navigation, and image analysis using machine learning for fine-grained CPS applications.
References
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Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
Consensus and Cooperation in Networked Multi-Agent Systems
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
Book
Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
TL;DR: It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.