Conference proceeding
Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
Proceedings of the American Control Conference, pp.463-468
07/08/2025
DOI: 10.23919/ACC63710.2025.11107623
Abstract
This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its progression information to its neighbor UAVs only when a decentralized trigger condition is satisfied. Consequently, it significantly reduces the volume of inter-vehicle communications required to achieve the goal compared with the existing algorithms based on continuous communication. With such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Furthermore, a lower bound on the difference between two consecutive event-triggered times is provided showing that the Zeno behavior is excluded with the proposed algorithm. Lastly, simulation results validate the efficacy of the proposed algorithm.
Details
- Title: Subtitle
- Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
- Creators
- Hyungsoo Kang - University of Illinois Urbana-ChampaignIsaac Kaminer - Naval Postgraduate SchoolVenanzio Cichella - University of IowaNaira Hovakimyan - University of Illinois Urbana-Champaign
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the American Control Conference, pp.463-468
- DOI
- 10.23919/ACC63710.2025.11107623
- eISSN
- 2378-5861
- Publisher
- AACC
- Grant note
- Air Force Office of Scientific Research (10.13039/100000181)
- Language
- English
- Date published
- 07/08/2025
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984949228202771
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