Distributed data-driven UAV formation control via evolutionary games: experimental results

"This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to...

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Autores principales: Barreiro-Gomez, Julian, Mas, Ignacio, Giribet, Juan I., Moreno, Patricio, Ocampo-Martínez, Carlos, Sánchez-Peña, Ricardo, Quijano, Nicanor
Formato: Artículos de Publicaciones Periódicas acceptedVersion
Lenguaje:Inglés
Publicado: info
Materias:
VEHICULOS AEREOS NO TRIPULADOS
JUEGOS EN GRUPO
POBLACION
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3880
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3880
record_format dspace
spelling I32-R138-123456789-38802022-12-07T13:06:59Z Distributed data-driven UAV formation control via evolutionary games: experimental results Barreiro-Gomez, Julian Mas, Ignacio Giribet, Juan I. Moreno, Patricio Ocampo-Martínez, Carlos Sánchez-Peña, Ricardo Quijano, Nicanor VEHICULOS AEREOS NO TRIPULADOS JUEGOS EN GRUPO POBLACION "This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance." info:eu-repo/date/embargoEnd/2023-07-31 2022-05-12T13:21:14Z 2022-05-12T13:21:14Z 2021-07 Artículos de Publicaciones Periódicas info:eu-repo/semantics/acceptedVersion 0016-0032 http://ri.itba.edu.ar/handle/123456789/3880 en info:eu-repo/semantics/altIdentifier/doi/10.1016/j.jfranklin.2021.05.002 info:eu-repo/grantAgreement/AFOSR/FA9550-17-1-0259/US. Arlington, VA. info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/semantics/embargoedAccess 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 VEHICULOS AEREOS NO TRIPULADOS
JUEGOS EN GRUPO
POBLACION
spellingShingle VEHICULOS AEREOS NO TRIPULADOS
JUEGOS EN GRUPO
POBLACION
Barreiro-Gomez, Julian
Mas, Ignacio
Giribet, Juan I.
Moreno, Patricio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
Distributed data-driven UAV formation control via evolutionary games: experimental results
topic_facet VEHICULOS AEREOS NO TRIPULADOS
JUEGOS EN GRUPO
POBLACION
description "This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance."
format Artículos de Publicaciones Periódicas
acceptedVersion
author Barreiro-Gomez, Julian
Mas, Ignacio
Giribet, Juan I.
Moreno, Patricio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
author_facet Barreiro-Gomez, Julian
Mas, Ignacio
Giribet, Juan I.
Moreno, Patricio
Ocampo-Martínez, Carlos
Sánchez-Peña, Ricardo
Quijano, Nicanor
author_sort Barreiro-Gomez, Julian
title Distributed data-driven UAV formation control via evolutionary games: experimental results
title_short Distributed data-driven UAV formation control via evolutionary games: experimental results
title_full Distributed data-driven UAV formation control via evolutionary games: experimental results
title_fullStr Distributed data-driven UAV formation control via evolutionary games: experimental results
title_full_unstemmed Distributed data-driven UAV formation control via evolutionary games: experimental results
title_sort distributed data-driven uav formation control via evolutionary games: experimental results
publishDate info
url http://ri.itba.edu.ar/handle/123456789/3880
work_keys_str_mv AT barreirogomezjulian distributeddatadrivenuavformationcontrolviaevolutionarygamesexperimentalresults
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AT ocampomartinezcarlos distributeddatadrivenuavformationcontrolviaevolutionarygamesexperimentalresults
AT sanchezpenaricardo distributeddatadrivenuavformationcontrolviaevolutionarygamesexperimentalresults
AT quijanonicanor distributeddatadrivenuavformationcontrolviaevolutionarygamesexperimentalresults
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