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

Barreiro-Gomez, Julian; Mas, Ignacio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor

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

dc.contributor.author	Barreiro-Gomez, Julian
dc.contributor.author	Mas, Ignacio
dc.contributor.author	Ocampo-Martínez, Carlos
dc.contributor.author	Sánchez-Peña, Ricardo
dc.contributor.author	Quijano, Nicanor
dc.date.accessioned	2022-04-29T18:33:10Z
dc.date.available	2022-04-29T18:33:10Z
dc.date.issued	2016-12
dc.description.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 φ. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation."	en
dc.identifier.isbn	978-1509-01-837-6
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3835
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/reference/doi/10.1109/CDC.2016.7799072
dc.relation	info:eu-repo/grantAgreement/COLCIENCIAS/6172/CO. Bogotá
dc.relation	info:eu-repo/grantAgreement/AGAUR/FI-2014/SP. Barcelona
dc.relation	info:eu-repo/grantAgreement/MINECO/DPI2013-48243-C2-1-R/SP. Madrid
dc.relation	nfo:eu-repo/grantAgreement/USAIT/W911NF-14-1-0008/US. Bloomington
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires
dc.subject	POBLACION	es
dc.subject	JUEGOS EN GRUPO	es
dc.subject	VEHICULOS AEREOS NO TRIPULADOS	es
dc.subject	VEHICULOS AEREOS NO TRIPULADOS	es
dc.title	Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/publishedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Barreiro-Gomez, Julian. Universitat Politècnica de Catalunya; España.
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Ocampo-Martínez, Carlos. Universitat Politècnica de Catalunya; España.
itba.description.filiation	Fil: Sánchez-Peña, Ricardo. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Sánchez-Peña, Ricardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Barreiro-Gomez, Julian. Universidad de los Andes; Colombia.
itba.description.filiation	Fil: Quijano, Nicanor. Universidad de los Andes; Colombia.