Journal articles: 'UAV Formation Flying'

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Cheng, Z., D. S. Necsulescu, B. Kim, and J. Z. Sasiadek. "NONLINEAR CONTROL FOR UAV FORMATION FLYING." IFAC Proceedings Volumes 41, no. 2 (2008): 791–96. http://dx.doi.org/10.3182/20080706-5-kr-1001.00136.

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Lobaty, A. A., A. Y. Bumai, and A. M. Avsievich. "Formation of unmanned aircraft trajectory when flying around prohibited areas." «System analysis and applied information science», no. 4 (January 5, 2022): 47–53. http://dx.doi.org/10.21122/2309-4923-2021-4-47-53.

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Considered the problem of flying over restricted areas by an unmanned aerial vehicle (UAV), which have various shapes and restrictions, set on the basis of the international airspace classification system for aviation in accordance with the Chicago Convention and the recommended principles for the formation of forbidden zones, rules for creating a flight route along forbidden zones and actions in case of border violations of restricted areas. The problem of analytical synthesis of the control acceleration of an unmanned aerial vehicle (UAV) is solved during its flight along a route passing along the boundaries of the forbidden zone of a given shape, along a given trajectory, which consists of subsequent segments located at the same height relative to the earth’s surface, in a given coordinate system. The optimal control synthesis problem is solved as an analytical definition of the optimal control of a linear non-stationary system based on the quadratic quality functional. A mathematical model of UAV motion in the horizontal plane is proposed, in the form of a system of ordinary differential equations in the Cauchy form. A law for measuring the control acceleration of the UAV’s center of mass is obtained on the basis of specifying the minimized quality functional and the corresponding constraints, which is a feature of the considered method of solving the problem. The proposed quality functional takes into account the parameters of coordinates and speed of the UAV, which correspond to the given points in the airspace, which characterize the necessary trajectory for flying around the restricted area. The derived mathematical dependences make it possible to implement them on board a UAV and minimize energy costs when guiding a UAV moving through specified points in space. Computer modeling of the derived analytical results, mathematical dependencies representing the optimal trajectory of the UAV flight along the boundaries of the forbidden zone, as well as the corresponding processes of changing the control acceleration and speed of the UAV movement was carried out, which made it possible to draw conclusions about the efficiency of the proposed method and the feasibility of its further use as a basis. for the initial stage of the synthesis of the UAV control system.

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Wang, Xiaohua, Vivek Yadav, and S. N. Balakrishnan. "Cooperative UAV Formation Flying With Obstacle/Collision Avoidance." IEEE Transactions on Control Systems Technology 15, no. 4 (July 2007): 672–79. http://dx.doi.org/10.1109/tcst.2007.899191.

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Zhao, Jianqiang, Wei Hu, Zirui Dong, and Liwen Kang. "A Study of the Purely Azimuthal Passive Positioning Problem of UAVs." Journal of Physics: Conference Series 2449, no. 1 (March 1, 2023): 012036. http://dx.doi.org/10.1088/1742-6596/2449/1/012036.

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Abstract In order to maintain electromagnetic silence and avoid external interference, UAV clusters usually use purely azimuthal passive positioning methods to adjust the position of UAVs when attempting formation flights. However, due to the large number of UAVs flying in formation, it is difficult to perform effective localization, although they can keep flying at an altitude based on their own sensors. Therefore, this paper establishes a passive positioning model based on the triangulation method under the condition of pure azimuthal passive positioning, solves the coordinates of the UAV position of the received signal by using the least squares problem, and designs the UAV position adjustment scheme by using the optimal scheduling model based on the immune-genetic algorithm, so as to improve the positioning accuracy and survivability of the UAV.

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Kazimierczak, Roman, Wiesław Milewski, Zdzisław Gosiewski, Leszek Ambroziak, and Cezary Kownacki. "Towards implementation of a formation flying for efficient UAV operations." Journal of KONBiN 48, no. 1 (December 1, 2018): 399–417. http://dx.doi.org/10.2478/jok-2018-0063.

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Abstract A flight of a UAV formation is an efficient way to implement surveillance and reconnaissance operations. The usage of a few UAVs as a formation instead of a single vehicle allows creating a distributed network of sensors, which decreases the duration of flight missions and enlarges a total field of view. From a practical point of view, implementations of formation flights require taking into account several separate aspects of flight of UAV such as a quick take-off of several aircraft, aggregating all UAVs in the same space to create swarm and collective flight of the formation towards the area of a surveillance mission. The paper presents the results of researches and experiments carried out towards practical solutions to those aspects. A magnetic launcher is an excellent appliance to put UAV in the air, and its operation could be repeated quickly. Hence, it is ideal to be used in a formation flight. The leader-follower approach based on two-stage switching control is an effective method to aggregate UAVs in the same space while they are flying over large areas. Whereas, the decentralized control of aerial flocking can be used to achieve a coherent flight of UAV formation, which is able to self-organize. Results from simulations and experiments show the effectiveness of each presented aspect and prove their usability in the implementation of formation flights.

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Park, Jin-Hee, Yeon-Joo Kim, and Jin-Wook Chung. "Dynamic Tree Formation Protocol in UAV Formation Flying Network for Disaster Monitoring." Journal of Korea Navigation Institute 16, no. 2 (April 30, 2012): 271–77. http://dx.doi.org/10.12673/jkoni.2012.16.2.271.

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Wang, Yiru, Bo Zhang, Huibing Yang, Zichun Tang, Hanxu Li, and Xuanlin Liu. "UAV Formation Adjustment Strategy Based on Greedy Criterion." Journal of Physics: Conference Series 2555, no. 1 (July 1, 2023): 012008. http://dx.doi.org/10.1088/1742-6596/2555/1/012008.

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Abstract In order to ensure that the UAV cluster remains electromagnetically silent during the attempted formation flight, so that the emission of electromagnetic wave signalsj is minimised, a purely azimuthal passive positioning method can be used to adjust the position of the UAVs. As it is difficult to keep the UAVs in formation flying on the same horizontal plane for a long time and the initial position information of the UAVs is not known. Therefore, this paper uses the sine and cosine theorems of in-plane triangles to connect slightly deviating UAVs to a determined UAV position, and in combination with the characteristics of the model, constructs a greedy criterion based on the minimum number of UAVs required to transmit the signal, and in this way gives an adjustment scheme for the UAV position.

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Ruan, Lang, Jin Chen, Qiuju Guo, Han Jiang, Yuli Zhang, and Dianxiong Liu. "A Coalition Formation Game Approach for Efficient Cooperative Multi-UAV Deployment." Applied Sciences 8, no. 12 (November 29, 2018): 2427. http://dx.doi.org/10.3390/app8122427.

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Unmanned aerial vehicle (UAV) cooperative control has been an important issue in UAV-assisted sensor networks, thanks to the considerable benefit obtained from the cooperative mechanism of UAVs being applied as a flying base station. In a coverage scenarios, the trade-off between coverage and transmission performance often makes deployment of UAVs fall into a dilemma, since both indexes are related to the distance between UAVs. To address this issue, UAV coverage and data transmission mechanism is analyzed in this paper; then, an efficient multi-UAV cooperative deployment model is proposed. The problem is modeled as a coalition formation game (CFG). The CFG with Pareto order is proved to have a stable partition. Then, an effective approach consisting of coverage deployment and coalition selection is designed, wherein UAVs can decide strategies cooperatively to achieve better coverage performance. Combining analysis of game approach, coalition selection and the position deployment algorithm based on Pareto order (CSPDA-PO) is designed to execute coverage deployment and coalition selection. Finally, simulation results are shown to validate the proposed approach based on an efficient multi-UAV cooperative deployment model.

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Shin, Hyo-Sang, Antonis F. Antoniadis, and Antonios Tsourdos. "Parametric Study on Formation Flying Effectiveness for a Blended-Wing UAV." Journal of Intelligent & Robotic Systems 93, no. 1-2 (April 26, 2018): 179–91. http://dx.doi.org/10.1007/s10846-018-0842-4.

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Erkec, Tuncay Yunus, and Chingiz Hajiyev. "Relative Navigation in UAV Applications." International Journal of Aviation Science and Technology vm01, is02 (December 30, 2020): 52–65. http://dx.doi.org/10.23890/ijast.vm01is02.0202.

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This paper is committed to the relative navigation of Unmanned Aerial Vehicles (UAVs) flying in formation flight. The concept and methods of swarm UAVs technology and architecture have been explained. The relative state estimation models of unmanned aerial vehicles which are based on separate systems as Inertial Navigation Systems (INS)&Global Navigation Satellite System (GNSS), Laser&INS and Vision based techniques have been compared via various approaches. The sensors are used individually or integrated each other via sensor integration for solving relative navigation problems. The UAV relative navigation models are varied as stated in operation area, type of platform and environment. The aim of this article is to understand the correlation between relative navigation systems and potency of state estimation algorithms as well during formation flight of UAV.

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Zhao, Shufan, Liming Shi, Qingbo Qu, Feixiang Zhu, and Xinyi Yang. "Demand analysis on the performance of shipboard alert unmanned aerial vehicles." MATEC Web of Conferences 189 (2018): 10016. http://dx.doi.org/10.1051/matecconf/201818910016.

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Shipboard alert unmanned aerial vehicles (UAV) has great significance to improve early warning detection capability of aircraft carrier formation. This paper first analyzes and summarizes the tactical and technical indicators of the carrier-based air early warning(AEW), then analyzes the tactical and technical indicators of the UAV refer to technical performance of early warning aircraft, and finally determines the performance indicators of the UAV. Its anterior distance is 400km, the stable working height is 9000m, the maximum level flight speed is 670km/h, and flying time in the mission area is more than 6 hours. It provides a reference for the future test of UAV.

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Wang, XiangYu, YanYu Zhang, ZhengYang Liu, Li Long, ChunXiao Jian, WeiJia Cui, and FengYuan Shi. "Structure management scheme of flying ad-hoc networks (FANET): A dynamic weight values weighted clustering algorithm." Journal of Physics: Conference Series 2330, no. 1 (August 1, 2022): 012004. http://dx.doi.org/10.1088/1742-6596/2330/1/012004.

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Abstract To resolve the problem of structure management in Unmanned Aerial Vehicle(UAV) formation, a dynamic weight values weighted clustering algorithm(DWVWCA) is proposed in this article, in which the cluster scheme for network optimization is used. Firstly, the residual energy model is improved to be more realistic. Secondly, the combined weighting method is introduced to make the comprehensive weight value of the UAV subjective and objective. Finally, the dynamic weight threshold is introduced to calculate the comprehensive weight value in real-time. The simulation results show that DWVWCA can effectively improve the objectivity of cluster head election, extend the UAV formation survival cycle, balance the network structure, reduce the number of cluster reorganization and fusion, and enhance the network stability.

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Kumar, Sudesh, Abhishek Bansal, and Ram Shringar Raw. "Analysis of Effective Routing Protocols for Flying Ad-Hoc Networks." International Journal of Smart Vehicles and Smart Transportation 3, no. 2 (July 2020): 1–18. http://dx.doi.org/10.4018/ijsvst.2020070101.

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Recently, the flying ad-hoc network (FANETs) is a popular networking technology used to create a wireless network through unmanned aerial vehicles (UAVs). In this network, the UAV nodes work as intermediate nodes that communicate with each other to transmit data packets over the network, in the absence of fixed an infrastructure. Due to high mobility degree of UAV nodes, network formation and deformation among the UAVs are very frequent. Therefore, effective routing is a more challenging issue in FANETs. This paper presents performance evaluations and comparisons of the popular topology-based routing protocol namely AODV and position-based routing protocol, namely LAR for high speed mobility as well as a verity of the density of UAV nodes in the FANETs environment through NS-2 simulator. The extensive simulation results have shown that LAR gives better performance than AODV significantly in terms of the packet delivery ratio, normalized routing overhead, end-to-end delay, and average throughput, which make it a more effective routing protocol for the highly dynamic nature of FANETs.

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Gosiewski, Zdzisław, and Leszek Ambroziak. "UAV Autonomous Formation Flight Experiment with Virtual Leader Control Structure." Solid State Phenomena 198 (March 2013): 254–59. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.254.

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The problem of autonomous formation flight control of UAVs (Unmanned Aerial Vehicles) is presented in the paper. A decentralized control method of the autonomous formation flight realization is described. A practical approach to the UAV formation flight control was shown. The applied method bases on the information exchange between flying objects. The shared data concern the position and velocity of the aircraft. Constructed UAV airframe was presented as well as used autopilot, developed formation flight control unit, wireless communication links and used data packet structure. The main aim of this work was the in-flight tests. The test of formation flight with Virtual Leader (VL) was examined. The autopilot reactions to the incoming data packets with desired altitude, airspeed and heading from formation flight controller were checked. During the flights the longitudinal and lateral positions of the UAV, orientation angles (pitch, roll, yaw), angular velocities (pitch rate, roll rate, yaw rate) and many other flight parameters were logged. The research and flight tests checked and verified the developed method of formation flight control.

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Zhang, Da Qiao, Jiu Fen Zhao, Gang Lei, Shun Hong Wang, and Xiao Long Zheng. "Hurry Path Planning Based on Adaptive Genetic Algorithm." Applied Mechanics and Materials 446-447 (November 2013): 1292–97. http://dx.doi.org/10.4028/www.scientific.net/amm.446-447.1292.

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During formation flying, Unmanned Aerial Vehicles (UAV) may need to arrive at target ahead of schedule by hurry path. Given fixed flight high mode, hurry planning method was proposed based on Adaptive Genetic Algorithm (AGA), which makes the new path shorter by locally adjusting the default path. By full considering the risk of UAV flight, the hurry path got by AGA meets the requirements of the risk cost and time amount in advance. Simulation results show that the path gotten by AGA can better meet the requirements of the time amount in advance, and evade the threat area effectively too.

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Yang, Juntang, Yogesh Khedar, Mohamed Khalil Ben-Larbi, Jan Backhaus, Astrid Lampert, Ulf Bestmann, and Enrico Stoll. "Concept and Feasibility Evaluation of Distributed Sensor-Based Measurement Systems Using Formation Flying Multicopters." Atmosphere 12, no. 7 (July 6, 2021): 874. http://dx.doi.org/10.3390/atmos12070874.

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Unmanned aerial vehicles (UAVs) have been used for increasing research applications in atmospheric measurements. However, most current solutions for these applications are based on a single UAV with limited payload capacity. In order to address the limitations of the single UAV-based approach, this paper proposes a new concept of measurements using tandem flying multicopters as a distributed sensor platform. Key challenges of the proposed concept are identified including the relative position estimation and control in wind-perturbed outdoor environment and the precise alignment of payloads. In the proposed concept, sliding mode control is chosen as the relative position controller and a gimbal stabilization system is introduced to achieve fine payload alignment. The characterization of the position estimation sensors (including global navigation satellite system and real-time kinematics) and flight controller is carried out using different UAVs (a DJI Matrice M600 Pro Hexacopter and Tarot X4 frame based Quadcopter) under different wind levels. Based on the experimental data, the performance of the sliding mode controller and the performance of the gimbal stabilization system are evaluated in a hardware-in-the-loop simulation environment (called ELISSA). Preliminary achievable control accuracies of the relative position and attitude of subsystems in the proposed concept are estimated based on experimental results.

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Saban, D., J. F. Whidborne, and A. K. Cooke. "Simulation of wake vortex effects for UAVs in close formation flight." Aeronautical Journal 113, no. 1149 (November 2009): 727–38. http://dx.doi.org/10.1017/s0001924000003389.

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AbstractThis paper addresses the development of multiple UAV deployment simulation models that include representative aerodynamic cross-coupling effects. Applications may include simulations of autonomous aerial refuelling and formation flying scenarios. A novel wake vortex model has been developed and successfully integrated within a Matlab/Simulink simulation environment. The wake vortex model is both sufficiently representative to support studies of aerodynamic interaction between multiple air vehicles, and straightforward enough to be used within real time or near real time air-to-air simulations. The model integration process is described, and computational results of a two-vehicle-formation flight are presented.

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Muslimov, Tagir Z., and Rustem A. Munasypov. "Multi-UAV cooperative target tracking via consensus-based guidance vector fields and fuzzy MRAC." Aircraft Engineering and Aerospace Technology 93, no. 7 (August 7, 2021): 1204–12. http://dx.doi.org/10.1108/aeat-02-2021-0058.

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Purpose This paper aims to propose a multi-agent approach to adaptive control of fixed-wing unmanned aerial vehicles (UAVs) tracking a moving ground target. The approach implies that the UAVs in a single group must maintain preset phase shift angles while rotating around the target so as to evaluate the target’s movement more accurately. Thus, the controls should ensure that the UAV swarm follows a moving circular path whose center is the target while also attaining and maintaining a circular formation of a specific geometric shape; and the formation control system is capable of self-tuning because the UAV dynamics is uncertain. Design/methodology/approach This paper considers two interaction architectures: an open-chain where each UAV only interacts with its neighbors; and a cooperative leader, where the leading UAV is involved in attaining the formation. The cooperative controllers are self-tuned by fuzzy model reference adaptive control (MRAC). Findings Using open-chain decentralized architecture allows to have an unlimited number of aircraft in a formation, which is in line with the swarm behavior concept. The approach was tested for efficiency and performance in various scenarios using complete nonlinear flying-wing UAV models equipped with configured standard autopilot models. Research limitations/implications Assume the target follows a rectilinear trajectory at a constant speed. The speed is supposed to be known in advance. Another assumption is that the weather is windless. Originality/value In contrast to known studies, this one uses Lyapunov guidance vector fields that are direction- and magnitude-nonuniform. The overall cooperative controller structure is based on a decentralized and centralized consensus.

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Wang, Xinhua, Mingyan Cheng, Shuai Zhang, and Huajun Gong. "Multi-UAV Cooperative Obstacle Avoidance of 3D Vector Field Histogram Plus and Dynamic Window Approach." Drones 7, no. 8 (August 2, 2023): 504. http://dx.doi.org/10.3390/drones7080504.

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In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by multi-UAV formation flying in unknown environments. First, according to the navigation evaluation function of the standard DWA algorithm, the target distance is introduced to correct the azimuth. Then, aiming at the problem that the fixed weight mechanism in standard DWA algorithm is unreasonable, we combine the A* algorithm and introduce variable weight factors related to azimuth to improve the target orientation ability in local path planning. A new rotation cost evaluation function is added to improve the obstacle avoidance ability of two-dimensional UAV. Then, 3D VFH+ algorithm is introduced and integrated with improved DWA algorithm to design a distributed cooperative formation obstacle avoidance control algorithm. Simulation validation suggests that compared with the traditional DWA algorithm, the improved collaborative obstacle avoidance control algorithm can greatly optimize the obstacle avoidance effect of UAVs’ formation flight.

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Li, Qing, Yongzhao Hua, Xiwang Dong, Jianglong Yu, and Zhang Ren. "Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance: Theories and Applications." Electronics 11, no. 15 (July 27, 2022): 2334. http://dx.doi.org/10.3390/electronics11152334.

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This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control protocol is verified by numerical simulations and flying experiments, which is more convincing than the theoretical results only.

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Lavezzi, Giovanni, Kidus Guye, Venanzio Cichella, and Marco Ciarcià. "Comparative Analysis of Nonlinear Programming Solvers: Performance Evaluation, Benchmarking, and Multi-UAV Optimal Path Planning." Drones 7, no. 8 (July 25, 2023): 487. http://dx.doi.org/10.3390/drones7080487.

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In this paper, we propose a set of guidelines to select a solver for the solution of nonlinear programming problems. We conduct a comparative analysis of the convergence performances of commonly used solvers for both unconstrained and constrained nonlinear programming problems. The comparison metrics involve accuracy, convergence rate, and computational time. MATLAB is chosen as the implementation platform due to its widespread adoption in academia and industry. Our study includes solvers which are either freely available or require a license, or are extensively documented in the literature. Moreover, we differentiate solvers if they allow the selection of different optimal search methods. We assess the performance of 24 algorithms on a set of 60 benchmark problems. We also evaluate the capability of each solver to tackle two large-scale UAV optimal path planning scenarios, specifically the 3D minimum time problem for UAV landing and the 3D minimum time problem for UAV formation flying. To enrich our analysis, we discuss the effects of each solver’s inner settings on accuracy, convergence rate, and computational time.

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Pulhani, Yashu, Ankur Singh Kang, and Vishal Sharma. "Performance analysis on self organization based clustering scheme for FANETs using K-means algorithm and firefly optimization." International Journal of Informatics and Communication Technology (IJ-ICT) 11, no. 2 (August 1, 2022): 148. http://dx.doi.org/10.11591/ijict.v11i2.pp148-159.

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<p><span>With the fast-increasing development of wireless communication networks, unmanned aerial vehicle (UAV) has emerged as a flying platform for wireless communication with efficient coverage, capacity, reliability, and its network is called flying ad-hoc network (FANET); which keeps changing its topology due to its dynamic nature, causing inefficient communication, and therefore needs cluster formation. In this paper, we proposed a cluster formation, selection of cluster head and its members, connectivity and transmission with the base station using the K-means algorithm, and choice of an optimized path for transmission using firefly optimization algorithm for efficient communication. Evaluation of performance with experimental results are obtained and compared using the K-means algorithm and firefly optimization algorithm in cluster building time, cluster lifetime, energy consumption, and probability of delivery success. On comparison of firefly optimization algorithm with firefly optimization algorithm, i.e., K-means algorithm results proved than without firefly optimization algorithm, better in terms of cluster building time, energy consumption, cluster lifetime, and also the probability of delivery success.</span></p>

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Ruan, Lang, Jin Chen, Qiuju Guo, Xiaobo Zhang, Yuli Zhang, and Dianxiong Liu. "Group Buying-Based Data Transmission in Flying Ad-Hoc Networks: A Coalition Game Approach." Information 9, no. 10 (October 15, 2018): 253. http://dx.doi.org/10.3390/info9100253.

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In scenarios such as natural disasters and military strikes, it is common for unmanned aerial vehicles (UAVs) to form groups to execute reconnaissance and surveillance. To ensure the effectiveness of UAV communications, repeated resource acquisition issues and transmission mechanism designs need to be addressed urgently. Since large-scale UAVs will generate high transmission overhead due to the overlapping resource requirements, in this paper, we propose a resource allocation optimization method based on distributed data content in a Flying Ad-hoc network (FANET). The resource allocation problem with the goal of throughput maximization is constructed as a coalition game framework. Firstly, a data transmission mechanism is designed for UAVs to execute information interaction within the coalitions. Secondly, a novel mechanism of coalition selection based on group-buying is investigated for UAV coalitions to acquire data from the central UAV. The data transmission and coalition selection problem are modeled as coalition graph game and coalition formation game, respectively. Through the design of the utility function, we prove that both games have stable solutions. We also prove the convergence of the proposed approach with coalition order and Pareto order. Based on simulation results, coalition order based coalition selection algorithm (CO-CSA) and Pareto order based coalition selection algorithm (PO-CSA) are proposed to explore the stable coalition partition of system model. CO-CSA and PO-CSA can achieve higher data throughput than the contrast onetime coalition selection algorithm (Onetime-CSA) (at least increased by 34.5% and 16.9%, respectively). Besides, although PO-CSA has relatively lower throughput gain, its convergence times is on average 50.9% less than that of CO-CSA, which means that the algorithm choice is scenario-dependent.

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Hussain, Altaf, Habib Ullah Khan, Shah Nazir, Ijaz Ullah, and Tariq Hussain. "Taking FANET to Next Level." ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal 10, no. 4 (February 8, 2022): 321–37. http://dx.doi.org/10.14201/adcaij2021104321337.

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Flying Ad-hoc Network (FANET) is a special member/class of Mobile Ad-hoc Network (MANET) in which the movable nodes are known as by the name of Unmanned Aerial Vehicles (UAVs) that are operated from a long remote distance in which there is no human personnel involved. It is an ad-hoc network in which the UAVs can more in 3D ways simultaneously in the air without any onboard pilot. In other words, this is a pilot free ad-hoc network also known as Unmanned Aerial System (UAS) and the component introduced for such a system is known as UAV. There are many single UAV applications but using multiple UAVs system cooperating can be helpful in many ways in the field of wireless communication. Deployments of these small UAVs are quick and flexible which overcome the limitation of traditional ad hoc networks. FANETs differ from other kinds of ad hoc networks and envisioned to play an important role where infrastructure operations are not available and assigned tasks are too dull, dirty, or dangerous for humans. Moreover, setting up to bolster the range and performance of small UAV in ad hoc network lead to emergent evolution with its high stability, quick deployment, and ease-of-use for the formation of the network. Routing and task allocation are the challenging research areas of the network with ad hoc nodes. The paper overview based on the study of biological inspired routing protocols (Moth-and-Ant and Bee Ad-Hoc) routing protocols.

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Annamalai, Vinoth Kumar, and Selvakumaran Thunaipragasam. "Design, modeling and simulation of a control surface-less tri-tilt-rotor UAV." Aircraft Engineering and Aerospace Technology 94, no. 4 (November 4, 2021): 541–52. http://dx.doi.org/10.1108/aeat-08-2021-0253.

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Purpose The purpose of this study is to design a flight control model for a control surface-less (CSL) tri-tilt-rotor (TTR) unmanned aerial vehicle (UAV) based on a Proportional Integral Derivative (PID) controller to stabilize the altitude and attitude of the UAV subjected to various flying conditions. Design/methodology/approach First, the proposed UAV with a tilting mechanism is designed and analyzed to obtain the aerodynamic parameters. Second, the dynamics of the proposed UAV are mathematically modeled using Newton-Euler formation. Then, the PID controller is implemented in the simulation model to control flight maneuvers. The model parameters were implemented in a mathematical model to find the system’s stability for various flight conditions. The model was linearized to determine the PID gain values for vertical take-off and landing, cruise and transition mode. The PID controller was tuned to obtain the desired altitude and attitude in a short period. The tuned PID gain values were implemented in the PID controller and the model was simulated. Findings The main contribution of this study is the mathematical model and controller for a UAV without any control surface and uses only a thrust vector control mechanism which reduces the complexity of the controller. The simulation has been carried out for various flight conditions. The altitude PID controller and the attitude PID controller for CSL-TTR-UAV were tuned to obtain desired altitude and attitude within the optimum duration of 4 s and deviation in the attitude of 8%, which is within the allowable limit of 14%. The findings obtained from the simulation revels that the altitude and attitude control of the CSL-TTR-UAV was achieved by controlling the rpm of the rotor and tilt angle using the PID controller. Originality/value A novel CSL TTR UAV mathematical model is developed with a dual tilting mechanism for a tail rotor and single axis tilt for the rotors in the wing. The flight control model controls the UAV without a control surface using a PID controller for the thrust vector mechanism.

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Xin, Yonghui, Ran Wang, Xi Wang, Xingwei Wang, Zhouxuan Xiao, and Jingyu Lin. "High-Resolution Terrain Reconstruction of Slot Canyon Using Backpack Mobile Laser Scanning and UAV Photogrammetry." Drones 6, no. 12 (December 19, 2022): 429. http://dx.doi.org/10.3390/drones6120429.

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Accurate terrain models are critical for studying the formation and development of slot canyons. However, for slot canyon landforms, it is challenging to generate comprehensive and high-resolution morphological data by individual observation due to the inaccessibility of steep walls on either side and the complexity of the field observation environment, such as variable-slope terrain, partial vegetation cover, and lack of satellite signal. Off-the-shelf surveying techniques, including Unmanned Aerial Vehicles (UAV) photogrammetry and Backpack Mobile Laser Scanning (BMLS), facilitate slot canyon surveys and provide better observations. This paper proposes an integrated scheme to generate comprehensive and centimeter-resolution slot canyon terrain datasets (e.g., color point clouds, Digital Elevation Models (DEM), and 3D mesh) using BMLS and fine UAV photogrammetry. The results show that the fine flight of UAVs based on a rough model can avoid collision with obstacles or flying into restricted areas, allowing users to perform tasks faster and safer. Data integration of BMLS and UAV photogrammetry can obtain accurate terrain datasets with a Root Mean Squared Error (RMSE) of point cloud registration of 0.028 m. Such high-resolution integration terrain datasets reduce local data shadows produced solely by individual datasets, providing a starting point to revealing morphological evolution and genesis of slot canyons.

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Opromolla, Roberto, Giancarmine Fasano, and Domenico Accardo. "A Vision-Based Approach to UAV Detection and Tracking in Cooperative Applications." Sensors 18, no. 10 (October 10, 2018): 3391. http://dx.doi.org/10.3390/s18103391.

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This paper presents a visual-based approach that allows an Unmanned Aerial Vehicle (UAV) to detect and track a cooperative flying vehicle autonomously using a monocular camera. The algorithms are based on template matching and morphological filtering, thus being able to operate within a wide range of relative distances (i.e., from a few meters up to several tens of meters), while ensuring robustness against variations of illumination conditions, target scale and background. Furthermore, the image processing chain takes full advantage of navigation hints (i.e., relative positioning and own-ship attitude estimates) to improve the computational efficiency and optimize the trade-off between correct detections, false alarms and missed detections. Clearly, the required exchange of information is enabled by the cooperative nature of the formation through a reliable inter-vehicle data-link. Performance assessment is carried out by exploiting flight data collected during an ad hoc experimental campaign. The proposed approach is a key building block of cooperative architectures designed to improve UAV navigation performance either under nominal GNSS coverage or in GNSS-challenging environments.

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Kumar, Deepak, and Dr Sonia. "Highly Optimized Energy Saving Protocol for Flying ad-hoc Network." International Journal for Research in Applied Science and Engineering Technology 11, no. 3 (March 31, 2023): 2177–89. http://dx.doi.org/10.22214/ijraset.2023.49910.

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bstract: FANET has opened up a wide arena for the study and implementation of drone and UAV (unmanned aerial vehicle) efficiency in a variety of military and rescue applications. In this paper, we propose a hybrid energy-aware routing protocol. The approaches are based on two swarm intelligence methods: ant colony optimization (ACO) and particle swarm optimization (PSO). The performances of these approaches are compared with other bio-inspired feature selection methods based on ant colony optimization, particle swarm optimization, and grey wolf optimization. we propose a hybrid energy-aware clustering technique using a genetic algorithm for cluster formation and management. The proposed scheme shows better results as compared to other bioinspired clustering algorithms on the basis of evaluation benchmarks such as end-to-end latency, packet delivery ratio, energy consumption, time complexity, and throughput, and as a result, hybrid ACOPSO is used to enhance ACOPSO efficiency. The results indicate that the proposed scheme has improved throughput by 60% and 38% with respect to ant colony optimization and, grey wolf optimization, respectively. In terms of average cluster building time while average energy consumption has improved by 23% and 33% when compared to the ant colony optimization and grey wolf optimization, respectively. From the comparison graph, it is concluded that our proposed method has achievable throughput which is significantly increasing compared to other methods.

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Vasilyev, G. S., O. R. Kuzichkin, I. A. Kurilov, and D. I. Surzhik. "Hierarchical model of information signals formation at the physical layer in FANET." Revista de la Universidad del Zulia 11, no. 30 (July 2, 2020): 178–88. http://dx.doi.org/10.46925//rdluz.30.13.

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Creation of reliable and efficient flying ad-hoc networks (FANET) requires detailed development of the model of the physical layer of data transmission, determined by the conditions of operation of the networks. The problems of well-known software simulators of communication networks are the simplified nature of the physical layer, as well as the inability to obtain specific analytical solutions in the process of simulation. The hierarchical model of formation of information signals which allows to represent various types of communication channels and the channel-forming equipment, for providing their analytical description and the further analysis is developed. The model allows to describe communication channels between UAVs and (or) ground control centers taking into account the effects of attenuation, intersymbol interference, multipath propagation of signals; schemes of terminal and intermediate network equipment with linear and nonlinear signal conversion; circuits with forward regulation, backward regulation and combined regulation; circuits with multi-channel signal generation and processing, as well as cross-links between channels. Analytical expressions of the transfer function of the generalized hierarchical model for an arbitrary number of disclosed levels of hierarchy are obtained. An example of the presentation and study of the UAV transmitter circuit on the basis of a hierarchical model of signal formation is considered.

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Wang, Jianhua, Liang Han, Xiaoduo Li, Xiwang Dong, Qingdong Li, and Zhang Ren. "Time-varying formation of second-order discrete-time multi-agent systems under non-uniform communication delays and switching topology with application to UAV formation flying." IET Control Theory & Applications 14, no. 14 (September 24, 2020): 1947–56. http://dx.doi.org/10.1049/iet-cta.2020.0183.

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Trujillo, Juan-Carlos, Rodrigo Munguia, Edmundo Guerra, and Antoni Grau. "Visual-Based SLAM Configurations for Cooperative Multi-UAV Systems with a Lead Agent: An Observability-Based Approach." Sensors 18, no. 12 (December 3, 2018): 4243. http://dx.doi.org/10.3390/s18124243.

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In this work, the problem of the cooperative visual-based SLAM for the class of multi-UA systems that integrates a lead agent has been addressed. In these kinds of systems, a team of aerial robots flying in formation must follow a dynamic lead agent, which can be another aerial robot, vehicle or even a human. A fundamental problem that must be addressed for these kinds of systems has to do with the estimation of the states of the aerial robots as well as the state of the lead agent. In this work, the use of a cooperative visual-based SLAM approach is studied in order to solve the above problem. In this case, three different system configurations are proposed and investigated by means of an intensive nonlinear observability analysis. In addition, a high-level control scheme is proposed that allows to control the formation of the UAVs with respect to the lead agent. In this work, several theoretical results are obtained, together with an extensive set of computer simulations which are presented in order to numerically validate the proposal and to show that it can perform well under different circumstances (e.g., GPS-challenging environments). That is, the proposed method is able to operate robustly under many conditions providing a good position estimation of the aerial vehicles and the lead agent as well.

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Causa, Flavia, and Giancarmine Fasano. "Improved In-Flight Estimation of Inertial Biases through CDGNSS/Vision Based Cooperative Navigation." Sensors 21, no. 10 (May 14, 2021): 3438. http://dx.doi.org/10.3390/s21103438.

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This paper discusses the exploitation of a cooperative navigation strategy for improved in-flight estimation of inertial sensors biases on board unmanned aerial vehicles. The proposed multi-vehicle technique is conceived for a “chief” Unmanned Aerial Vehicle (UAV) and relies on one or more deputy aircrafts equipped with Global Navigation Satellite System (GNSS) antennas for differential positioning which also act as features for visual tracking. Combining carrier-phase differential GNSS and visual estimates, it is possible to retrieve accurate inertial-independent attitude information, thus potentially enabling improved bias estimation. Camera and carrier-phase differential GNSS measurements are integrated within a 15 states extended Kalman filter. Exploiting an ad hoc developed numerical environment, the paper analyzes the performance of the cooperative approach for inertial biases estimation as a function of number of deputies, formation geometry and distances, and absolute and relative dynamics. It is shown that exploiting two deputies it is possible to improve biases estimation, while a single deputy can be effective if changes of relative geometry and dynamics are also considered. Experimental proofs of concept based on two multi-rotors flying in formation are presented and discussed. The proposed framework is applicable beyond the domain of small UAVs.

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Погудін, А. В., О. К. Погудіна, А. М. Биков, and Т. А. Пластун. "МОДЕЛЮВАННЯ АВТОМАТИЧНОГО ПОЛЬОТУ МАЛОГО БЕЗПІЛОТНОГО ЛІТАЛЬНОГО АПАРАТУ НАД ЛІНІЄЮ-МАРКЕРОМ." Open Information and Computer Integrated Technologies, no. 95 (October 26, 2022): 71–82. http://dx.doi.org/10.32620/oikit.2022.95.06.

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The subject of study is the process of automating the behavior of an unmanned aerial vehicle during a flight following a given marker inside a room. The goal is to reduce the distance of deviation from the course and reduce the time to complete the flight along the trajectory set by the contrasting marker on the ground. The task: to conduct an analysis of existing libraries capable of performing automatic flight simulation and adaptation of the received code to the hardware platform of modern unmanned aerial vehicles; review the structure of the selected library, and modify the components of the library, which are necessary for the formation of automatic flight; create a model of the video processing and control system, check its operational parameters in a simulation environment. The methods used are: system analysis used to compare existing libraries of UAV flight simulation information systems within the framework of the assigned tasks, artificial intelligence methods for the development of a video stream data analysis subsystem and recognition of the provided marker during UAV flight simulation, system programming methods for automatic control of UAV flight based on the data obtained from the visual information analysis system, a method of simulation modeling to check the correctness of the developed algorithms in collaborative work. The following results were obtained. The choice of the library for the development and modeling of subsystems of automatic flight of a small unmanned aerial vehicle in a room is justified, a subsystem for processing video information obtained from the built-in camera of a UAV is created, an automatic flight control subsystem is developed taking into account the data of the video information analysis subsystem; a series of experiments was conducted on a simulation model to check the system's performance. Conclusions. In the course of the study, a model of the autonomous flight of a small unmanned aerial vehicle capable of flying over a contrasting color marker placed on the surface over which the UAV flies was improved. Unlike existing models, the system does not require the use of additional equipment, all computing operations must be performed on board the UAV, only the data of the video stream of the built-in camera and the coordinates of the UAV are transmitted to the control station, in addition, the minimum number of additional libraries necessary for creating a simulation model was used simulation modeling. This will reduce the time it takes to create a model, and, accordingly, conduct more experiments on improving parameters to achieve the goal of research.

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Upadhyay, Jatin, Abhishek Rawat, and Dipankar Deb. "Multiple Drone Navigation and Formation Using Selective Target Tracking-Based Computer Vision." Electronics 10, no. 17 (September 1, 2021): 2125. http://dx.doi.org/10.3390/electronics10172125.

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Autonomous unmanned aerial vehicles work seamlessly within the GPS signal range, but their performance deteriorates in GPS-denied regions. This paper presents a unique collaborative computer vision-based approach for target tracking as per the image’s specific location of interest. The proposed method tracks any object without considering its properties like shape, color, size, or pattern. It is required to keep the target visible and line of sight during the tracking. The method gives freedom of selection to a user to track any target from the image and form a formation around it. We calculate the parameters like distance and angle from the image center to the object for the individual drones. Among all the drones, the one with a significant GPS signal strength or nearer to the target is chosen as the master drone to calculate the relative angle and distance between an object and other drones considering approximate Geo-location. Compared to actual measurements, the results of tests done on a quadrotor UAV frame achieve 99% location accuracy in a robust environment inside the exact GPS longitude and latitude block as GPS-only navigation methods. The individual drones communicate to the ground station through a telemetry link. The master drone calculates the parameters using data collected at ground stations. Various formation flying methods help escort other drones to meet the desired objective with a single high-resolution first-person view (FPV) camera. The proposed method is tested for Airborne Object Target Tracking (AOT) aerial vehicle model and achieves higher tracking accuracy.

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Reineman, Benjamin D., Luc Lenain, Nicholas M. Statom, and W. Kendall Melville. "Development and Testing of Instrumentation for UAV-Based Flux Measurements within Terrestrial and Marine Atmospheric Boundary Layers." Journal of Atmospheric and Oceanic Technology 30, no. 7 (July 1, 2013): 1295–319. http://dx.doi.org/10.1175/jtech-d-12-00176.1.

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Abstract Instrumentation packages have been developed for small (18–28 kg) unmanned aerial vehicles (UAVs) to measure momentum fluxes as well as latent, sensible, and radiative heat fluxes in the atmospheric boundary layer (ABL) and the topography below. Fast-response turbulence, hygrometer, and temperature probes permit turbulent momentum and heat flux measurements, and shortwave and longwave radiometers allow the determination of net radiation, surface temperature, and albedo. UAVs flying in vertical formation allow the direct measurement of fluxes within the ABL and, with onboard high-resolution visible and infrared video and laser altimetry, simultaneous observation of surface topography or ocean surface waves. The low altitude required for accurate flux measurements (typically assumed to be 30 m) is below the typical safety limit of manned research aircraft; however, with advances in laser altimeters, small-aircraft flight control, and real-time kinematic differential GPS, low-altitude flight is now within the capability of small UAV platforms. Flight tests of instrumented BAE Systems Manta C1 UAVs over land were conducted in January 2011 at McMillan Airfield (Camp Roberts, California). Flight tests of similarly instrumented Boeing Insitu ScanEagle UAVs were conducted in April 2012 at the Naval Surface Warfare Center, Dahlgren Division (Dahlgren, Virginia), where the first known measurements of water vapor, heat, and momentum fluxes were made from low-altitude (down to 30 m) UAV flights over water (Potomac River). This study presents a description of the instrumentation, summarizes results from flight tests, and discusses potential applications of these UAVs for (marine) atmospheric boundary layer studies.

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Chen, Siji, Bo Jiang, Tao Pang, Hong Xu, Mingke Gao, Yan Ding, and Xin Wang. "Firefly swarm intelligence based cooperative localization and automatic clustering for indoor FANETs." PLOS ONE 18, no. 3 (March 30, 2023): e0282333. http://dx.doi.org/10.1371/journal.pone.0282333.

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At present, the applications of multiple unmanned aerial vehicles (UAVs) are becoming more and more widespread, covering many civil and military fields. When performing tasks, UAVs will form a flying ad hoc network (FANET) to communicate to each other. However, subject to high mobility, dynamic topology, and limited energy of FANETs, maintaining stable communication performance is a challenging task. As a potential solution, the clustering routing algorithm divides the entire network into multiple clusters to achieve strong network performance. Meanwhile, the accurate localization of UAV is also strongly required when FANETs are applied in the indoor scenario. In this paper, we propose a firefly swarm intelligence based cooperative localization (FSICL) and automatic clustering (FSIAC) for FANETs. Firstly, we combine the firefly algorithm (FA) and Chan algorithm to better cooperative locate the UAVs. Secondly, we propose the fitness function consisting of link survival probability, node degree-difference, average distance, and residual energy, and take it as the light intensity of the firefly. Thirdly, the FA is put forward for cluster-head (CH) selection and cluster formation. Simulation results indicate that the proposed FSICL algorithm achieves the higher localization accuracy faster, and the FSIAC algorithm achieves the higher stability of clusters, longer link expiration time (LET), and longer node lifetime, all of which improve the communication performance for indoor FANETs.

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Danyk, Yu, O. Zborovska, and N. Rodina. "Models and mechanisms of formation of posttraumatic stress disorders in hybrid war (conflicts) and their features." Fundamental and applied researches in practice of leading scientific schools 31, no. 1 (February 28, 2019): 44–53. http://dx.doi.org/10.33531/farplss.2019.1.09.

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In study was conducted analysis and systematic studies of war syndromes, the end of the 20th and early 21st centuries ("Vietnamese syndrome", "Persian Gulf syndrome", "Afghan syndrome," etc.). For the first time are presented the systemic symptoms of the hybrid war syndrome (hybrid conflict) on the basis of the analysis, the application of the method of historical analogies, comparison, systematization and interpretation of facts, abstraction and concretization. For the first time, the presence of the following stages of its development in the process of formation of PTSD has been proven: the "pre-PTSD", the latent phase "soft PTSD" (which already takes place, but obviously does not manifest itself and can be detected only by instrumental (hardware) methods) and "formed PTSD" (as a rule, one that is completely formed, clearly manifested, stable, multisymptomatic, and deployed, which, in the absence of its timely detection and treatment, is more likely to be transformed into a post-traumatic personality disorder). The issues of informational and cognitive trauma of personnel and population were considered on the basis of the analysis of the striking factors of information and cognitive weapons and the peculiarities of their salvage in the Hybrid War. We identified and described in our model of formation of PTSD in the context of the hybrid war "zero" - "entry into military service" stage and the three main stages of the emergence and formation of the PTSD. The first stage is "preparatory": Phases: 1) General training; 2) training in the units in the conditions most close to combat (primary "Vaccinations" from PTSD); 3) Combat coordination of units (secondary "Vaccinations" from PTSD). The second stage of "stay in the crisis zone": 1) phase - sending to the area of military action; 2) participation in military action; 3) retirement. The third stage "Return from the combat zone". Particular emphasis should be put on other models of PTSD formation in specialists who do not take direct participation in battles, but are in a state of high nervous-psychological stress. Stress is due the influence of responsibility for the effectiveness of use in the area of military action or in the enemy territory of high-cost, high-tech means on which the effectiveness of action depends in general, and the lives of combatants (for example, LAC crews and, in particular, UAV operators (2nd model) and military pilots flying aircraft (airplanes / helicopters) (3rd moth model). The first and second stages of the formation of PTSD in them are similar to the above-mentioned one model of the formation of PTSD. Differences with the 1st model and between the second and third models develop in the third stage. It has also been established that PTSD may occur immediately after a traumatic event, or can lead to a negative long-term symptom and show symptoms that are sufficient for the diagnosis of PTSD (or the conditions / illness associated with it), even over the years.

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Kalra, Arti, Sreenatha Anavatti, and Radhakant Padhi. "Aggressive Formation Flying of Fixed-Wing UAVs with Differential Geometric Guidance." Unmanned Systems 05, no. 02 (April 2017): 97–113. http://dx.doi.org/10.1142/s2301385017500078.

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A nonlinear differential geometric guidance scheme is presented in this paper for aggressive autonomous formation flying of fixed-wing unmanned aerial vehicles (UAVs) in the leader-follower framework. It is assumed that the desired location of the followers are known in the velocity frame of the leader. It is also assumed that the followers can also access the position, velocity and acceleration parameters of the leader as necessary auxiliary information. By utilizing this information and manipulating their own dynamics, the proposed logic autonomously guides the followers to their respective desired positions. Depending on the leader’s velocity and acceleration information as well as the intended relative location, the formulation also ensures an appropriate direction of the velocity vectors of the followers at the desired relative locations, including its rate of change if any. This leads to minimal transient effects while maintaining the formation even under maneuvering conditions. Usage of quaternions and other innovations ensure that the formulation is singularity-free and hence formation flying is ensured even under aggressive maneuvers of the leader without any restriction on its velocity vector direction. The desired thrust, angle of attack and bank angle are generated using a nonlinear point mass model of a vehicle. The generated guidance commands are then realized using a nonlinear six-DOF model, making the formulation practically more relevant. Extensive simulation studies demonstrate that the proposed approach is capable of bringing the UAVs from arbitrary initial locations to the desired formation and then maintaining the formation even under highly agile motion of the leader.

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Ali, Zain Anwar, Amber Israr, Eman H. Alkhammash, and Myriam Hadjouni. "A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller." Complexity 2021 (November 9, 2021): 1–16. http://dx.doi.org/10.1155/2021/9231636.

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The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in their model and are adaptive as well. The motivation behind this article is to bridge that gap. The strategy consists of an adaptive fuzzy logic controller and a Proportional, Integral, and Derivative (PID) controller where the logic controller fines/tunes the PID controller gains. The controller also consists of an integrator that raises the order of the system which helps reduce the noise and steady-state errors. The simulations confirm that the proposed technique is robust and satisfies mission requirements. Moreover, the flying formations of the swarm were created by a B-spline curve based on a simple waypoint. The main contribution of this study is to present a model where the formation remains stable during the whole flight, errors are within the optimal range, and the time delays are manageable.

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Bassolillo, Salvatore Rosario, Luciano Blasi, Egidio D’Amato, Massimiliano Mattei, and Immacolata Notaro. "Decentralized Triangular Guidance Algorithms for Formations of UAVs." Drones 6, no. 1 (December 28, 2021): 7. http://dx.doi.org/10.3390/drones6010007.

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This paper deals with the design of a guidance control system for a swarm of unmanned aerial systems flying at a given altitude, addressing flight formation requirements that can be formulated constraining the swarm to be on the nodes of a triangular mesh. Three decentralized guidance algorithms are presented. A classical fixed leader–follower scheme is compared with two alternative schemes: the former is based on the self-identification of one or more time-varying leaders; the latter is an algorithm without leaders. Several operational scenarios have been simulated involving swarms with obstacles and an increasing number of aircraft in order to prove the effectiveness of the proposed guidance schemes.

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Ali, Qasim, and Sergio Montenegro. "Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs." IEEE Access 4 (2016): 397–406. http://dx.doi.org/10.1109/access.2016.2517203.

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Wang, Jianan, Zhengyang Zhou, Chunyan Wang, and Zhengtao Ding. "Cascade structure predictive observer design for consensus control with applications to UAVs formation flying." Automatica 121 (November 2020): 109200. http://dx.doi.org/10.1016/j.automatica.2020.109200.

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Singh, Sahjendra N., Meir Pachter, Phil Chandler, Siva Banda, Steve Rasmussen, and Corey Schumacher. "Input-output invertibility and sliding mode control for close formation flying of multiple UAVs." International Journal of Robust and Nonlinear Control 10, no. 10 (2000): 779–97. http://dx.doi.org/10.1002/1099-1239(200008)10:10<779::aid-rnc513>3.0.co;2-6.

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Bassolillo, Salvatore Rosario, Egidio D’Amato, Immacolata Notaro, Luciano Blasi, and Massimiliano Mattei. "Decentralized Mesh-Based Model Predictive Control for Swarms of UAVs." Sensors 20, no. 15 (August 3, 2020): 4324. http://dx.doi.org/10.3390/s20154324.

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This paper deals with the design of a decentralized guidance and control strategy for a swarm of unmanned aerial vehicles (UAVs), with the objective of maintaining a given connection topology with assigned mutual distances while flying to a target area. In the absence of obstacles, the assigned topology, based on an extended Delaunay triangulation concept, implements regular and connected formation shapes. In the presence of obstacles, this technique is combined with a model predictive control (MPC) that allows forming independent sub-swarms optimizing the formation spreading to avoid obstacles and collisions between neighboring vehicles. A custom numerical simulator was developed in a Matlab/Simulink environment to prove the effectiveness of the proposed guidance and control scheme in several 2D operational scenarios with obstacles of different sizes and increasing number of aircraft.

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Lee, Hye-Kyung, Seul-Ki Han, and Won-Sang Ra. "Linear Robust Target Tracking Filter Using the Range Differences Measured By Formation Flying Multiple UAVs." Transactions of The Korean Institute of Electrical Engineers 61, no. 2 (February 1, 2012): 284–90. http://dx.doi.org/10.5370/kiee.2012.61.2.284.

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Mehmood, Yasir, Jawad Aslam, Nasim Ullah, Md Shahariar Chowdhury, Kuaanan Techato, and Ali Nasser Alzaed. "Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances." Sensors 21, no. 7 (March 31, 2021): 2401. http://dx.doi.org/10.3390/s21072401.

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Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multiple UAVs is highly dependent on the applied control strategy. The formation and trajectories of multiple UAVs are governed by two separate controllers, namely formation and trajectory tracking controllers respectively. In presence of environmental effects, disturbances due to wind and parametric uncertainties, the controller design process is a challenging task. This article proposes a robust adaptive formation and trajectory tacking control of multiple quad-rotor UAVs using super twisting sliding mode control method. In the proposed design, Lyapunov function-based adaptive disturbance estimators are used to compensate for the effects of external disturbances and parametric uncertainties. The stability of the proposed controllers is guaranteed using Lyapunov theorems. Two variants of the control schemes, namely fixed gain super twisting SMC (STSMC) and adaptive super twisting SMC (ASTSMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, it is verified that in presence of disturbances, the proposed ASTSMC controller exhibits enhanced robustness as compared to the fixed gain STSMC.

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Jacobsen, Rune Hylsberg, Lea Matlekovic, Liping Shi, Nicolaj Malle, Naeem Ayoub, Kaspar Hageman, Simon Hansen, Frederik Falk Nyboe, and Emad Ebeid. "Design of an Autonomous Cooperative Drone Swarm for Inspections of Safety Critical Infrastructure." Applied Sciences 13, no. 3 (January 17, 2023): 1256. http://dx.doi.org/10.3390/app13031256.

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Inspection of critical infrastructure with drones is experiencing an increasing uptake in the industry driven by a demand for reduced cost, time, and risk for inspectors. Early deployments of drone inspection services involve manual drone operations with a pilot and do not obtain the technological benefits concerning autonomy, coordination, and cooperation. In this paper, we study the design needed to handle the complexity of an Unmanned Aerial System (UAS) to support autonomous inspection of safety-critical infrastructure. We apply a constructive research approach to link innovation needs with concepts, designs, and validations that include simulation and demonstration of key design parts. Our design approach addresses the complexity of the UAS and provides a selection of technology components for drone and ground control hardware and software including algorithms for autonomous operation and interaction with cloud services. The paper presents a drone perception system with accelerated onboard computing, communication technologies of the UAS, as well as algorithms for swarm membership, formation flying, object detection, and fault detection with artificial intelligence. We find that the design of a cooperative drone swarm and its integration into a custom-built UAS for infrastructure inspection is highly feasible given the current state of the art in electronic components, software, and communication technology.

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Ali, Zain Anwar, Zhangang Han, and Rana Javed Masood. "Collective Motion and Self-Organization of a Swarm of UAVs: A Cluster-Based Architecture." Sensors 21, no. 11 (May 31, 2021): 3820. http://dx.doi.org/10.3390/s21113820.

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This study proposes a collective motion and self-organization control of a swarm of 10 UAVs, which are divided into two clusters of five agents each. A cluster is a group of UAVs in a dedicated area and multiple clusters make a swarm. This paper designs the 3D model of the whole environment by applying graph theory. To address the aforesaid issues, this paper designs a hybrid meta-heuristic algorithm by merging the particle swarm optimization (PSO) with the multi-agent system (MAS). First, PSO only provides the best agents of a cluster. Afterward, MAS helps to assign the best agent as the leader of the nth cluster. Moreover, the leader can find the optimal path for each cluster. Initially, each cluster contains agents at random positions. Later, the clusters form a formation by implementing PSO with the MAS model. This helps in coordinating the agents inside the nth cluster. However, when two clusters combine and make a swarm in a dynamic environment, MAS alone is not able to fill the communication gap of n clusters. This study does it by applying the Vicsek-based MAS connectivity and synchronization model along with dynamic leader selection ability. Moreover, this research uses a B-spline curve based on simple waypoint defined graph theory to create the flying formations of each cluster and the swarm. Lastly, this article compares the designed algorithm with the NSGA-II model to show that the proposed model has better convergence and durability, both in the individual clusters and inside the greater swarm.

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Kada, Belkacem, Abdullah Y.Tameem, Ahmed A. Alzubairi, and Uzair Ansari. "Distributed Cooperative Control for Multi-UAV Flying Formation." International Journal of Advanced Computer Science and Applications 14, no. 5 (2023). http://dx.doi.org/10.14569/ijacsa.2023.0140587.

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"A Study on Guidance Law Design and Simulation of Multiple UAV Formation Flying." Journal of the Korean Society for Aeronautical & Space Sciences 36, no. 9 (September 4, 2008): 859–66. http://dx.doi.org/10.5139/jksas.2008.36.9.859.

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Journal articles on the topic 'UAV Formation Flying'

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