Conference proceeding
Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
01/01/2021
DOI: 10.1109/CDC45484.2021.9683619
Abstract
Conference Title: 2021 60th IEEE Conference on Decision and Control (CDC) Conference Start Date: 2021, Dec. 14 Conference End Date: 2021, Dec. 17 Conference Location: Austin, TX, USAThis 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.
Details
- Title: Subtitle
- Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
- Creators
- Hyung-Jin YoonVenanzio CichellaNaira HovakimyanPetros Voulgaris
- Resource Type
- Conference proceeding
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings
- DOI
- 10.1109/CDC45484.2021.9683619
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Language
- English
- Date published
- 01/01/2021
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984213306102771
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