Fully-autonomous coordinated flight of multiple UAVs using decentralized virtual leader approach

Author

Watanabe, Yoshihiro ; Amiez, Alexandre ; Chavent, Paul

Author_Institution

Syst. Control & Flight Dynamics Dept., ONERA (The French Aerosp. Lab.), Toulouse, France

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

5736

Lastpage

5741

Abstract

This paper presents experimental results of fully-autonomous coordinated flight of multiple UAVs. The coordination control law is designed based on the decentralized virtual leader approach, and its stability is theoretically proven. A mission scenario is defined by a sequence of four different coordination phases, to every of which the same controller is applied with different configuration settings. The proposed law has been implemented and demonstrated onboard the ONERA fixed-wing UAV platforms.

Keywords

aerospace components; autonomous aerial vehicles; decentralised control; mobile robots; multi-robot systems; stability; vehicle dynamics; ONERA fixed-wing UAV platforms; configuration settings; coordination control law; coordination phases; decentralized virtual leader approach; fully-autonomous coordinated flight; multiple UAV; stability; Eigenvalues and eigenfunctions; Hardware; Limit-cycles; Orbits; Synchronization; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6697187

Filename

6697187