ICUAS'17 Paper Abstract


Paper WeB5.5

Brandao, Alexandre Santos (Federal University of Vicosa), Castillo, Pedro (Unviersité de Technologie de Compiègne), Lozano, Rogelio (University of Technology of Compiègne)

On the Guidance for an UAV Formation Applying Multi-Layer Control Scheme

Scheduled for presentation during the "UAS Navigation - II" (WeB5), Wednesday, June 14, 2017, 16:20−16:40, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Swarms, Navigation, Simulation


In robotics, the navigation problem can be split in planning, execution, checking and correction. An approach to deal with these tasks is based on the Multi-Layer Control scheme (MLCS). In this technique, each layer is responsible for an individual step of the formation control problem, such as; to define and optimize the desired robot pose; to avoid or minimize collision risks; to control the robots for accomplishing the formation, and so on. In this work, a positioning task for a platoon of six aerial robots is guided by the MLCS methodology. The procedure is developed as follows: first, the off-line planning layer organizes the desired formation according to the current robot position; then, the robots are clustered in a set of triangular formations; and finally, each triangle is controlled for reaching its desired goal. Simulation results illustrate and validate the proposal.



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