Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications

Hegde, A and Aloor, JJ and Ghose, D (2022) Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications. In: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering .

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Abstract

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV distances in the formation in order to ensure safe operation. In doing so, we address the problem of prioritizing specific objectives over others in a multi-objective control framework. We propose a barrier Lyapunov function-based distributed control law to enforce the bounds on the distances and assess its Lyapunov stability using a kinematic model. The theoretical analysis is supported by numerical results, which account for measurement noise and moving targets. Straight-line and circular motion of the target are considered, and results for quadratic Lyapunov function-based control, often used in multi-agent multi-objective problems, are also presented. A comparison of the two control approaches elucidates the advantages of our proposed safe-control in bounding the inter-agent distances in a formation. A concluding evaluation using Robot Operating System simulations illustrates the practical applicability of the proposed control to a pair of multi-rotors visually estimating and maintaining their mutual separation within specified bounds, as they track a moving target.

Item Type:	Journal Article
Publication:	Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Publisher:	SAGE Publications Ltd
Additional Information:	The copyright for this article belongs to SAGE Publications Ltd.
Keywords:	Aircraft control; Aircraft detection; Clutter (information theory); Distributed parameter control systems; Industrial robots; Kinematics; Multi agent systems; Multipurpose robots; Robot applications; Robot Operating System; Unmanned aerial vehicles (UAV), Barrier lyapunov function; Distributed-control; Formation control; Lyapunov's functions; Moving targets; Multi UAV; Multi-objective control; Quadratic lyapunov function; Targets tracking; Tracking application, Lyapunov functions
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	08 Oct 2022 04:49
Last Modified:	08 Oct 2022 04:49
URI:	https://eprints.iisc.ac.in/id/eprint/77311

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