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Distributed multi-UAV shield formation based on virtual surface constraints

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dc.contributor.authorZaragoza, Salvador
dc.contributor.authorGuinaldo Losada, María
dc.contributor.authorSánchez Moreno, José
dc.contributor.authorMañas Álvarez, Francisco José
dc.date.accessioned2024-05-29T10:43:13Z
dc.date.available2024-05-29T10:43:13Z
dc.date.issued2024-03-30
dc.description.abstractThis 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.en
dc.description.versionversión publicada
dc.identifier.citationMaría 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
dc.identifier.doihttps://doi.org/10.1016/j.robot.2024.104684
dc.identifier.issn0921-8890
dc.identifier.urihttps://hdl.handle.net/20.500.14468/22212
dc.journal.titleRobotics and Autonomous Systems
dc.journal.volume176
dc.language.isoen
dc.page.initial104684
dc.publisherElsevier
dc.relation.centerE.T.S. de Ingeniería Informática
dc.relation.departmentInformática y Automática
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
dc.subject12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
dc.subject.keywordsdelaunay triangulationen
dc.subject.keywordsformation controlen
dc.subject.keywordsgraph rigidityen
dc.subject.keywordsmultiagent systemsen
dc.subject.keywordsUAVen
dc.titleDistributed multi-UAV shield formation based on virtual surface constraintsen
dc.typejournal articleen
dc.typeartículoes
dspace.entity.typePublication
relation.isAuthorOfPublication4e090c62-3525-41d6-a8ff-0d3f4642e5c3
relation.isAuthorOfPublicationcafb43c8-2038-4e5c-a3b3-f53b9fc7f8c1
relation.isAuthorOfPublication2562491d-2829-4a25-bb48-75bdda3d2827
relation.isAuthorOfPublication.latestForDiscovery4e090c62-3525-41d6-a8ff-0d3f4642e5c3
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