Consensus-based navigation of a UAV formation

This work presents the development of a UAV cooperative strategy based on consensus navigation to solve the rendezvous problem. The Laplacian matrix is weighted by the distance among the vehicles, i.e., as closer a UAV is from another as higher the communication link is. Therefore, the communication graph, which characterizes the consensus navigation, is a dynamic one. Following, some simulation results are shown in order to illustrate the theoretical aspects, and also to validate the proposal. Finally, the analysis of the Laplacian matrix and the UAV communication during flight is also presented to determine the consensus meeting point.