On the Guidance of Multiple UAV using a Centralized Formation Control Scheme and Delaunay Triangulation

Decentralized High Level Controller for Formation Flight Control of UAVs

“…In conclusion, the formation control can work in a fully decentralized way. Indeed, unlike other VRB methods, which rely on the group barycenter to steer the formation [15], our approach requires neither positioning nor tracking from a centralized point. The high level controller will be implemented in C++ language in a companion computer (Odroid XU4) embedded in DJI F450 quadrotors.…”

On the Weighting of Control Signals in a Multi-robot System: A Formation-Based Analysis

“…Since one robot might belong to more than one triangular formation, the same robot can receive multiple reference control signals from the triangular formations. In previous works (Brandão et al 2015;Brandão and Sarcinelli-Filho 2016), just the last computed control signal was considered for each robot, e.g., if a robot belongs to three triangular formations, just the control signal provided by the last computed formation control law was considered. Here, we propose a strategy to weight the control signals of each robot proportionally to triangular formation error magnitude, defined as a weighted mean of the control signals strategy (WMCS).…”

“…In such a context, this paper presents a centralized strategy for a virtual structure formation composed by n-robots. For the control strategy, we use the multilayer control scheme (MLCS) proposed in Rampinelli et al (2009) and Brandao et al (2009) for a triangular formation, which was later extended to an n-robot formation in Brandão et al (2015); Brandão and Sarcinelli-Filho (2016). In resume, this paper is an improved version of Brandão et al (2015) and its contributions are twofold: (a) a strategy based on cross-product concept to identify automatically the current and the desired triangle sequence; (b) a control signals weighting, to improve simultaneous convergence of the whole formation, whenever a robot belongs to more than one formation.…”

Formation Flight Control of Multi-UAV System Using Neighbor-based Trajectory Generation Topology

“…In centralized architecture, all the agents in the formation are controlled by one centralized controller where all computations and processing are carried out. Several works can be found on such architecture like in [14] and [15]. Such control architecture generally offer the most robust and optimal path planning solutions [16], but, on the other hand, it has a weak robustness with respect to the fault of the central processor [1].…”