Circular Formation Control of Multiple Quadrotor Aerial Vehicles

2013 ◽  
pp. 109-132 ◽  
Author(s):  
M. Fadhil Abas ◽  
Dwi Pebrianti ◽  
Syaril Azrad ◽  
D. Iwakura ◽  
Yuze Song ◽  
...  
Keyword(s):  
Formation Control ◽  
Aerial Vehicles

Bird Flocking Inspired Formation Control for Unmanned Aerial Vehicles Using Stereo Camera

2019 ◽  
Vol 13 (3) ◽  
pp. 3580-3589 ◽  
Author(s):  
Jonathan Lwowski ◽  
Abhijit Majumdar ◽  
Patrick Benavidez ◽  
John J. Prevost ◽  
Mo Jamshidi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Stereo Camera ◽  
Aerial Vehicles

Formation control of multirotor aerial vehicles using decentralized MPC

2018 ◽  
Vol 40 (6) ◽  
Author(s):  
Ícaro Bezerra Viana ◽  
Davi Antônio dos Santos ◽  
Luiz Carlos Sandoval Góes
Keyword(s):  
Formation Control ◽  
Aerial Vehicles

Lyapunov vector-based formation tracking control for unmanned aerial vehicles with obstacle/collision avoidance

2019 ◽  
Vol 42 (5) ◽  
pp. 942-950
Author(s):  
Kai Chang ◽  
Dailiang Ma ◽  
Xingbin Han ◽  
Ning Liu ◽  
Pengpeng Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Potential Field ◽  
Formation Control ◽  
Control Method ◽  
Spherical Surface ◽  
Moving Target ◽  
Local Optima ◽  
Formation Tracking ◽  
Aerial Vehicles ◽  
Repulsive Forces

This paper presents a formation control method to solve the moving target tracking problem for a swarm of unmanned aerial vehicles (UAVs). The formation is achieved by the artificial potential field with both attractive and repulsive forces, and each UAV in the swarm will be driven into a leader-centered spherical surface. The leader is controlled by the attractive force by the moving target, while the Lyapunov vectors drive the leader UAV to a fly-around circle of the target. Furthermore, the rotational vector-based potential field is applied to achieve the obstacle avoidance of UAVs with smooth trajectories and avoid the local optima problem. The efficiency of the developed control scheme is verified by numerical simulations in four scenarios.

Stereo Camera Based Formation Control for Unmanned Aerial Vehicles

2018 ◽  
Author(s):  
Jonathan Lwowski ◽  
Abhijit Majumdar ◽  
Patrick Benavidez ◽  
John J. Prevost ◽  
Mo Jamshidi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Stereo Camera ◽  
Aerial Vehicles
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