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arXiv · 2109.14779

Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies

Hyungsoo Kang·Hyung-Jin Yoon·Venanzio Cichella·Naira Hovakimyan·Petros Voulgaris
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Abstract

This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communication between UAVs is bidirectional. Thus, the topology of the inter-UAV information flow can be characterized by digraphs. To achieve coordination with weak connectivity, we design a switching law that orchestrates switching between jointly connected digraph topologies. In accordance with the law, the UAVs with a transmitter switch the topology of their coordination information flow. A Lyapunov analysis shows that a decentralized coordination controller steers coordination errors to a neighborhood of zero. Simulation results illustrate that the algorithm attains coordination objectives with significantly reduced inter-UAV communication compared to previous work.

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Hyungsoo Kang, Hyung-Jin Yoon, Venanzio Cichella, Naira Hovakimyan, Petros Voulgaris. 2021-09-30. Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies. https://arxiv.org/abs/2109.14779

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