Publicación: Distributed multi-UAV shield formation based on virtual surface constraints
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Fecha
2024-03-30
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info:eu-repo/semantics/openAccess
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Elsevier
Resumen
This paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the 3D space. To design the desired formation (target distances between agents and interconnections), an algorithm is proposed where the input parameters are just the parametrization of the quadric and the number of agents of the system. This algorithm guarantees that the agents are almost uniformly distributed over the virtual surface and that the topology is a Delaunay triangulation. Moreover, a new method is proposed to check if the resulting triangulation meets that condition and is executed locally. Because this topology ensures that the formation is rigid, a distributed control law based on the gradient of a potential function is proposed to acquire the desired shield shape and proofs of stability are provided. Finally, simulation and experimental results illustrate the effectiveness of the proposed approach.
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Categorías UNESCO
Palabras clave
delaunay triangulation, formation control, graph rigidity, multiagent systems, UAV
Citación
María Guinaldo, José Sánchez-Moreno, Salvador Zaragoza, Francisco José Mañas-Álvarez, Distributed multi-UAV shield formation based on virtual surface constraints, Robotics and Autonomous Systems, (2024) Volume 176, 104684. https://doi.org/10.1016/j.robot.2024.104684
Centro
E.T.S. de Ingeniería Informática
Departamento
Informática y Automática