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Hierarchical UAV formation control for cooperative surveillance

Sutton, Andrew; Fidan, Baris; Van der Walle, Dirk


In this paper, we analyze the problem of rigidly maintaining a formation of three unmanned aerial vehicles (UAVs), whilst surveying a region of interest following, as a team, a particular pre-defined (spiral) trajectory. The UAVs in the formation are constrained to fly at constant speeds and to maintain certain pre-defined inter-agent distances. A decentralized proportional-integral (PI) control scheme (involving certain nonlinear switching terms) is developed for the surveillance and formation...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of International Federation of Automatic Control World Congress (SYSID 2008)
DOI: 10.3182/20080706-5-KR-1001.3921


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