Networked Event-Based Collision Avoidance of Mobile Objects

Schwung, Michael; Hagedorn, Felix; Lunze, Jan

doi:10.23919/ecc.2019.8795803

Cited by 8 publications

(1 citation statement)

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“…However, the communication scheme is independent of the plant state itself. Event-triggered communication has also been studied by the authors in [4], where a collision avoidance problem of two unmanned aerial vehicles (UAV) is considered, but their focus is on the control and event generator design. The authors in [5] present a self-triggered formation control scheme, in which a remote controller requests sensor measurements in an event-based fashion using Lyapunov control theory.…”

Section: Introductionmentioning

confidence: 99%

An Energy-Efficient Event-Based MIMO Communication Scheme for UAV Formation Control

Karacora¹,

Sezgin²

2020

Preprint

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We consider a leader-follower formation control setup as an example for a multi-agent networked control system (NCS). This paper proposes an event-based wireless communication scheme with a MIMO precoder, that dynamically adapts to both the channel and the current control state. We apply a Lyapunov drift approach for optimizing the precoder and for defining an event-triggering policy. To evaluate the performance of the proposed scheme, we simulate a formation control of two unmanned aerial vehicles (UAVs) connected via a point-topoint MIMO fading channel. Compared to a benchmark scheme with periodic transmissions and a basic water-filling algorithm, we demonstrate that our proposed event-based scheme is more efficient by consuming less energy and requiring less frequent transmissions on average.

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Section: Introductionmentioning

confidence: 99%