Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies
Naval Postgraduate School Monterey United States
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This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case studies a simultaneous arrival mission scenario and a sequential auto-landing of a fleet of UAVs. In the adopted setup, the UAVs are assigned nominal spatial pathsand speed profiles along those, and the vehicles are then tasked to execute cooperative path following, rather than open-loop trajectory-tracking maneuvers. This cooperative strategy yields robust behavior against external disturbances by allowing the UAVs to negotiate their speeds along the paths in response to coordinationinformation exchanged over the supporting communications network. The approach applies to teams of heterogeneous vehicles and does not necessarily lead to swarming behavior.