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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Communication dans un congrès
IEEE. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. 2018 International Conference on Unmanned Aircraft Systems (ICUAS), pp.9-14, 2018 International Conference on Unmanned Aircraft Systems (ICUAS). 〈10.1109/ICUAS.2018.8453342〉
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Soumis le : lundi 10 septembre 2018 - 08:47:42
Dernière modification le : jeudi 20 septembre 2018 - 14:20:40

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

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