This paper presents a decentralized Voronoi-based linear model predictive control (MPC) technique for the deployment and reconfiguration of a multi-agent system composed of unmanned aerial vehicles (UAVs) in a bounded area. At each time instant, this area is partitioned into non-overlapping time-varying Voronoi cells associated to each UAV agent. The formation deployment objective is to drive the agents into a static configuration based on the Chebyshev center of each Voronoi cell. The proposed MPC-based formation reconfiguration algorithms allow not only faulty/non-cooperating agents to leave the formation, but also recovered/healthy agents to join in the current formation, while avoiding collisions. Simulation results validate the effectiveness of the proposed control algorithms.


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    Title :

    Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques


    Contributors:


    Publication date :

    2018-06-01


    Size :

    562496 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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