Time-Critical Coordination of Multiple UAVs with Absolute Temporal Constraints
Javier Puig, Enric Xargay, Ronald Choe, Naira Hovakimyan · 2015
This paper presents a time-critical coordination control law to support multi-vehicle missions that impose both absolute and relative temporal specifications on the trajectories of the vehicles. The proposed cooperative strategy yields robust behavior against external disturbances by allowing the vehicles to negotiate their speeds along the paths in response to information exchanged over an inter-vehicle communication network. Simulation results of a sequential auto-landing scenario demonstrate the efficacy of the control law for group coordination presented in this paper.