Robust Decentralized Asynchronous Control of Unmanned Aerial Vehicles Swarm with Fast Convergence Switching Topology

Azar, Ahmad Taher; Serrano, Fernando E.; Kamal, Nashwa Ahmad; Koubâa, Anis; Ammar, Adel

doi:10.1007/978-3-030-69717-4_62

Cited by 4 publications

(1 citation statement)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Nevertheless, at the same time generate kino-dynamically feasible trajectories and support scalability. To bridge the gap, the paper proposes the following contributions a) A customized asynchronous flight planner based on the general definition in [41] is proposed and a graph-based formation metric is utilized as a heuristic that is invariant to rotation, translation, and scaling, granting greater flexibility in formation coordination. b) For close proximity formations, path planning and intervehicle collision/dynamic obstacles avoidance is accomplished using clamped B-splines and use of minimum volume (MINVO basis) convex hulls is adapted from [28] for agent trajectory flight zones; incorporated within the planner.…”

Section: B Research Avenues and Contributionsmentioning

confidence: 99%

Decentralized Asynchronous Formation Planning of Multirotor Aerial Vehicles in Dynamic Environments Using Flexible Formation Graphs and Tight Trajectory Hulls

Tanveer,

Kadri

2024

IEEE Access

View full text Add to dashboard Cite

Formation flight holds significant potential for various applications involving aerial robot swarms. However, current methodologies lack the capability to autonomously execute large-scale formation flights in densely populated environments. To bridge the gap, a decentralized and asynchronous formation flight planner is proposed based on a graph-based formation metric and tight representations of kinodynamically feasible trajectories for collision avoidance. The planner handles formation path planning along with dynamic obstacles and intervehicle collision avoidance using minimum volume convex hulls for agent trajectories. The employed formation metric is invariant to rotation, translation, and scaling, granting greater flexibility in formation coordination. A decoupled and distributed trajectory optimization framework is proposed to enhance the computational feasibility of large-scale formation flights. Moreover, to mitigate issues relating to communication delays between agents, asynchronous execution of a finite horizon navigation framework with usage of sparse trajectory control points for trajectory segments is employed. Simulations with multiple agents, static and dynamic obstacles support the robustness of the planner to formation flights in real world. The planner demonstrates goal/waypoints achievement and formation adherence capabilities that are assessed and compared using a popular quantifiable formation similarity metric. Furthermore, the paper also serves as a guideline to build upon trajectory planning frameworks for tight formation control in cluttered, dynamic environments.

show abstract

Section: B Research Avenues and Contributionsmentioning

confidence: 99%