This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a time-varying digraph. We assume that this digraph is connected in an integral sense. This is a much more general assumption than the one currently used in the literature. Under this assumption, it is shown that a decentralized coordination controller ensures exponential convergence of the coordination error vector to a neighborhood of zero. The efficacy of the algorithm is confirmed with simulation results.
@article{arxiv.2307.06553,
title = {Coordinated Path Following of UAVs over Time-Varying Digraphs Connected in an Integral Sense},
author = {Hyungsoo Kang and Isaac Kaminer and Venanzio Cichella and Naira Hovakimyan},
journal= {arXiv preprint arXiv:2307.06553},
year = {2024}
}