Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques - Archive ouverte HAL Access content directly
Conference Papers Year : 2018

Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques

Thomas Chevet
Cristina Vlad
Youmin Zhang
  • Function : Author
  • PersonId : 852878

Abstract

This paper presents a decentralized Voronoi-based linear model predictive control (MPC) technique for the deployment and reconfiguration of a multi-agent system composed of unmanned aerial vehicles (UAVs) in a bounded area. At each time instant, this area is partitioned into non-overlapping time-varying Voronoi cells associated to each UAV agent. The formation deployment objective is to drive the agents into a static configuration based on the Chebyshev center of each Voronoi cell. The proposed MPC-based formation reconfiguration algorithms allow not only faulty/non-cooperating agents to leave the formation, but also recovered/healthy agents to join in the current formation, while avoiding collisions. Simulation results validate the effectiveness of the proposed control algorithms.

Domains

Automatic
Fichier principal
Vignette du fichier
Chevet et al - ICUAS 2018 - Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques.pdf (244.84 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01768188 , version 1 (10-09-2018)

Identifiers

Cite

Thomas Chevet, Cristina Stoica Maniu, Cristina Vlad, Youmin Zhang. Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. pp.9-14, ⟨10.1109/ICUAS.2018.8453342⟩. ⟨hal-01768188⟩
233 View
466 Download

Altmetric

Share

Gmail Facebook X LinkedIn More