Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

DOI10.1016/J.EJCON.2020.03.005MaRDI QIDQ2220046zbMATH OpenOpenAlexFDO

Authors Aseem V. Borkar, Swaroop Hangal, Hemendra Arya, Arpita Sinha, Leena Vachhani

Publication date 21 January 2021

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1812.04904

zbMATH Keywords

area surveillancecalculus of variationsformation reconfigurationLissajous curvesmulti-agent systems

Mathematics Subject Classification ID

Multi-agent systems (93A16) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper proposes trajectory planning strategies for online reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work, a multi-agent formation with constant parametric speed was proposed in order to address multiple objectives such as repeated collision-free surveillance and guaranteed sensor coverage of the area with ability for rogue target detection and trapping. This work addresses the issue of formation reconfiguration within this context. In particular, smooth parametric trajectories are designed for the purpose using calculus of variations. These trajectories have been employed in conjunction with a simple local cooperation scheme so as to achieve collision-free reconfiguration between different Lissajous curves. A detailed theoretical analysis of the proposed scheme is provided. These surveillance and reconfiguration strategies have also been validated through simulations in MATLAB eg for agents performing parametric motion along the curves, and by Software-In-The-Loop simulation for quadrotors. In addition, they are validated experimentally with a team of quadrotors flying in a motion capture environment.

Recommendations

• Two-stage time-optimal formation reconfiguration strategy
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Cites work

• Bivariate Lagrange interpolation at the node points of non-degenerate Lissajous curves
• Robust formation control in \(\mathbb{SE}(3)\) for tree-graph structures with prescribed transient and steady state performance

Cited in

(1)

• Output feedback stochastic MPC for tracking control of quadrotors with disturbances

Describes a project that uses

Uses Software

• Matlab

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