Optimal formation of a collaborative maneuver with inequality constraints

In this paper, an optimal path is proposed for a collaboration of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with coherent formation. To achieve this goal, a cost function including the position vectors of the agents is considered and the connection topology between the agents is modeled using graph theory. By employing LMI approach (Linear Matrix Inequalities), the problem is solved subject to some constraints on the velocity of the agents. The simulation results approve the accepted performance of the introduced approach.