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]
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