相关论文: Formation Control for Enclosing and Tracking via R…

In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…

In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…

We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…

Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…

In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…

This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…

This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…

This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target…

A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The…

Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…

A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…

This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…