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Non-hierarchical UAV formation control for surveillance tasks

Van der Walle, Dirk; Fidan, Baris; Sutton, Andrew; Yu, Changbin (Brad); Anderson, Brian


In this paper, we consider motion and formation control of a team of three unmanned aerial vehicles (UAVs) for a particular surveillance task. The UAVs are required to fly in an equilateral triangle formation (to optimize target location estimation accuracy), with the centre of mass following a nominated (spiral) trajectory, which reflects the constraints on the turning radius of the flight paths. Furthermore, the UAVs need to fly at constant and nearly (but not necessarily exactly) the same...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of the American Control Conference 2008
DOI: 10.1109/ACC.2008.4586587


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