Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies

Hyungsoo Kang; Isaac Kaminer; Venanzio Cichella; Naira Hovakimyan

doi:10.48550/arxiv.2503.08129

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Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies

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Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies

Hyungsoo Kang, Isaac Kaminer, Venanzio Cichella and Naira Hovakimyan

ArXiV.org

Cornell University

03/11/2025

DOI: 10.48550/arxiv.2503.08129

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Preprint (Author's original)This preprint has not been evaluated by subject experts through peer review. Preprints may undergo extensive changes and/or become peer-reviewed journal articles. Open Access

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.

Computer Science - Systems and Control

Details

Title: Subtitle: Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
Creators: Hyungsoo Kang - University of Illinois Urbana-Champaign
Isaac Kaminer - Naval Postgraduate School
Venanzio Cichella - University of Iowa
Naira Hovakimyan - University of Illinois Urbana-Champaign
Resource Type: Preprint
Publication Details: ArXiV.org
DOI: 10.48550/arxiv.2503.08129
ISSN: 2331-8422
Publisher: Cornell University; Ithaca, New York
Language: English
Date posted: 03/11/2025
Academic Unit: Mechanical Engineering
Record Identifier: 9984800203802771

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