Multiple Leader-Follower Coordination for Cooperative Missions

被引：1

作者：

Tabasso, Camilla ^{[1
]}

Cichella, Venanzio ^{[1
]}

机构：

[1] Univ Iowa, Dept Mech Engn, Iowa City, IA 52242 USA

来源：

AIAA SCITECH 2021 FORUM | 2021年

关键词：

UNMANNED AERIAL VEHICLES; COLLISION-AVOIDANCE; SYSTEMS;

D O I：

10.2514/6.2021-1766

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this work we present an algorithm for coordination in cooperative multi-vehicle missions. As it will be shown throughout the paper, our solution guarantees satisfaction of inter-vehicle safety constraints with minimal variations to the vehicles' nominal trajectories. Moreover, it relies on a leader-follower structure, and models a realistic communication network. Finally, theoretical guarantees, as well as numerical results to demonstrate the efficacy of the proposed solution are provided.

引用

页数：13

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