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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Formato: | Ponencias en Congresos publishedVersion |
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2022
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Acceso en línea: | http://ri.itba.edu.ar/handle/123456789/3835 |
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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 |
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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 |
_version_ |
1765660929031143424 |