Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games

"This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain...

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Autores principales: Barreiro-Gomez, Julian, Mas, Ignacio, Ocampo-Martínez, Carlos, Sánchez-Peña, Ricardo, Quijano, Nicanor
Formato: Ponencias en Congresos publishedVersion
Lenguaje:Inglés
Publicado: 2022
Materias:
POBLACION
JUEGOS EN GRUPO
VEHICULOS AEREOS NO TRIPULADOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3835
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3835
record_format dspace
spelling I32-R138-123456789-38352022-12-07T14:13:26Z Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games Barreiro-Gomez, Julian Mas, Ignacio Ocampo-Martínez, Carlos Sánchez-Peña, Ricardo Quijano, Nicanor POBLACION JUEGOS EN GRUPO VEHICULOS AEREOS NO TRIPULADOS VEHICULOS AEREOS NO TRIPULADOS "This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x, y, and z, and in the yaw angle φ. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation." 2022-04-29T18:33:10Z 2022-04-29T18:33:10Z 2016-12 Ponencias en Congresos info:eu-repo/semantics/publishedVersion 978-1509-01-837-6 http://ri.itba.edu.ar/handle/123456789/3835 en info:eu-repo/semantics/reference/doi/10.1109/CDC.2016.7799072 info:eu-repo/grantAgreement/COLCIENCIAS/6172/CO. Bogotá info:eu-repo/grantAgreement/AGAUR/FI-2014/SP. Barcelona info:eu-repo/grantAgreement/MINECO/DPI2013-48243-C2-1-R/SP. Madrid nfo:eu-repo/grantAgreement/USAIT/W911NF-14-1-0008/US. Bloomington info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic POBLACION
JUEGOS EN GRUPO
VEHICULOS AEREOS NO TRIPULADOS
VEHICULOS AEREOS NO TRIPULADOS
spellingShingle POBLACION
JUEGOS EN GRUPO
VEHICULOS AEREOS NO TRIPULADOS
VEHICULOS AEREOS NO TRIPULADOS
Barreiro-Gomez, Julian
Mas, Ignacio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
topic_facet POBLACION
JUEGOS EN GRUPO
VEHICULOS AEREOS NO TRIPULADOS
VEHICULOS AEREOS NO TRIPULADOS
description "This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x, y, and z, and in the yaw angle φ. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation."
format Ponencias en Congresos
publishedVersion
author Barreiro-Gomez, Julian
Mas, Ignacio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
author_facet Barreiro-Gomez, Julian
Mas, Ignacio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
author_sort Barreiro-Gomez, Julian
title Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
title_short Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
title_full Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
title_fullStr Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
title_full_unstemmed Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
title_sort distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
publishDate 2022
url http://ri.itba.edu.ar/handle/123456789/3835
work_keys_str_mv AT barreirogomezjulian distributedformationcontrolofmultipleunmannedaerialvehiclesovertimevaryinggraphsusingpopulationgames
AT masignacio distributedformationcontrolofmultipleunmannedaerialvehiclesovertimevaryinggraphsusingpopulationgames
AT ocampomartinezcarlos distributedformationcontrolofmultipleunmannedaerialvehiclesovertimevaryinggraphsusingpopulationgames
AT sanchezpenaricardo distributedformationcontrolofmultipleunmannedaerialvehiclesovertimevaryinggraphsusingpopulationgames
AT quijanonicanor distributedformationcontrolofmultipleunmannedaerialvehiclesovertimevaryinggraphsusingpopulationgames
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