Decentralized MPC for UAVs Formation Deployment and Reconfiguration with Multiple Outgoing Agents

Chevet, Thomas; Vlad, Cristina; Maniu, Cristina Stoica; Zhang, Youmin

doi:10.1007/s10846-019-01025-x

Cited by 14 publications

(7 citation statements)

References 41 publications

(74 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As mentioned in the introduction, the evaluation framework uses a distributed UAV formation control strategy based on model predictive control (MPC), which has been widely studied in the literature, e.g. [30]- [32], [34], [38], and [39].…”

Section: B Distributed Uav Formation Controlmentioning

confidence: 99%

“…Furthermore, in [39], the authors only test the MPC with one leader and two one-hop wingmen, which does not require multi-hop communication. The problem of distributed UAV formation control is also addressed in [30]- [32]. Nevertheless, these works made assumptions related to the communication process, which would be difficult to fulfill in real-world FANET scenarios.…”

Section: B Distributed Uav Formation Controlmentioning

confidence: 99%

“…Several works addressing the design of distributed UAV formation control strategies consider that SI reaches the UAVs timely or within some fixed time window, [25]- [32]. For instance, [26] and [27] assume that this can be achieved by using enough transmission power to reach all UAVs within the formation with a single hop.…”

Section: Introductionmentioning

confidence: 99%

“…For instance, [26] and [27] assume that this can be achieved by using enough transmission power to reach all UAVs within the formation with a single hop. In contrast, [28]- [31] consider using multi-hop communications to disseminate SI, whereas [32] assumes perfect communication between UAVs. However, all these works do not include the implementation or analysis of any particular multi-hop dissemination protocol.…”

Section: Introductionmentioning

confidence: 99%

“…Without loss of generality, the model predictive control (MPC) scheme for distributed UAV formation control reported in [34] has been implemented in the evaluation framework. The use of MPC for distributed UAV formation control has been widely studied in the literature, e.g., [30]- [32], [34], [38], and [39]. Nevertheless, the analysis and results that are presented in this work can be used as a reference for the evaluation of other distributed UAV formation control strategies.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Performance Analysis of Multi-Hop Broadcast Protocols for Distributed UAV Formation Control Applications

et al. 2019

View full text Add to dashboard Cite

Multi-unmanned aerial vehicle (multi-UAV) systems have become popular in applications such as precision agriculture, remote sensing, and pollution monitoring. Commonly, multi-UAV systems require to reach and maintain a specific flight formation during mission execution. This can be achieved by using a distributed UAV formation control strategy in which each UAV has a flight controller whose function is to calculate the control actions for the UAV actuators such that the UAV formation is maintained. To perform this task, the control strategy requires the reliable and timely exchange of information within the UAV formation. The information that is needed by the controller is commonly referred to as state information (SI). It has been assumed that SI can be properly disseminated by means of multi-hop communications, i.e., by deploying a flying ad-hoc network (FANET). In this sense, multi-hop broadcast protocols (MBPs) that were previously proposed for mobile and vehicular ad-hoc networks seem to be suited for this task. However, previous work dealing with distributed UAV formation control has made communication and networking assumptions that would be hard to fulfill in actual FANET deployments. Moreover, the efficiency of the MBPs to disseminate SI within a FANET remains unexplored. The goal of this paper is to analyze how the network performance offered by different MBPs impacts the effectiveness of distributed UAV formation control to maintain UAV formation. An evaluation framework to perform this task is proposed in this paper. The simulation results demonstrate the relevance of MBP performance in SI message dissemination and thus in the ability of the controller to maintain a formation.

show abstract