Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques

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.
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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⟩

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