Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Author:

Franchi Antonio1,Masone Carlo1,Grabe Volker1,Ryll Markus1,Bülthoff Heinrich H12,Giordano Paolo Robuffo1

Affiliation:

1. Max Planck Institute for Biological Cybernetics, Tübingen, Germany

2. Department of Brain and Cognitive Engineering, Korea University, South Korea

Abstract

In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information. The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter ‘human-in-the-loop’ case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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1. Bearing-Only Formation Control of Multi-Agent Systems using a Signed Protocol;2024 European Control Conference (ECC);2024-06-25

2. Periodic event-triggered formation control of multi-agent systems via complex Laplacian;IMA Journal of Mathematical Control and Information;2024-01-28

3. Singularity Analysis of Rigid Directed Bearing Graphs for Quadrotor Formations;IEEE Transactions on Robotics;2024

4. Decentralized Connectivity Maintenance for Quadrotor UAVs with Field of View Constraints;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01

5. Angle-Constrained Formation Maneuvering of Unmanned Aerial Vehicles;IEEE Transactions on Control Systems Technology;2023-07

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