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Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games

Author
Barreiro, J.; Mas, I.; Ocampo-Martinez, C.A.; Sánchez, R.S.; Quijano, N.
Type of activity
Presentation of work at congresses
Name of edition
2016 IEEE 55th Conference on Decision and Control (CDC)
Date of publication
2016
Presentation's date
2016
Book of congress proceedings
2016 IEEE 55th Conference on Decision and Control (CDC)
First page
5245
Last page
5250
Publisher
IEEE Press
DOI
https://doi.org/10.1109/CDC.2016.7799072 Open in new window
Project funding
ECOCIS DPI-2013-48243-C2-1-R
Repository
http://hdl.handle.net/2117/103904 Open in new window
URL
http://ieeexplore.ieee.org/document/7799072/ Open in new window
Abstract
This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x; y; and z, and in the yaw angle phi. Additional features are performed with this method: each agent has...
Citation
Barreiro, J., Mas, I., Ocampo-Martinez, C.A., Sánchez, R.S., Quijano, N. Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games. A: IEEE Conference on Decision and Control. "2016 IEEE 55th Conference on Decision and Control (CDC)". Las Vegas: IEEE Press, 2016, p. 5245-5250.
Keywords
control theory, distributed formation control, multi-robot systems. unmanned aerial vehicles, population games, replicator dynamics, time-varying communication network
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants

  • Barreiro Gomez, Julian  (author and speaker )
  • Mas, Ignacio  (author and speaker )
  • Ocampo Martinez, Carlos A.  (author and speaker )
  • Sánchez Peña, Ricardo Salvador  (author and speaker )
  • Quijano Silva, Nicanor  (author and speaker )