Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

This paper proposes trajectory planning strategies for reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work (Borkar et al., 2016), a multi-agent formation with constant parametric speed was proposed in order to address multiple objectives such as repeated collision-fr...

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Bibliographic Details
Published inEuropean journal of control Vol. 56; pp. 274 - 288
Main Authors Borkar, Aseem V., Hangal, Swaroop, Arya, Hemendra, Sinha, Arpita, Vachhani, Leena
Format Journal Article
LanguageEnglish
Published Philadelphia Elsevier Ltd 01.11.2020
Elsevier Limited
Subjects
Area surveillance
Boundary conditions
Calculus of variations
Collision avoidance
Communication
Cooperation
Formation reconfiguration
Lissajous curves
Motion capture
Multi-agent systems
Multiagent systems
Planning
Reconfiguration
Rotary wing aircraft
Surveillance
Target detection
Trajectory planning
C30
Lissajous curves
C10
Formation reconfiguration
Calculus of variations
Multi-agent systems
Area surveillance
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Summary:This paper proposes trajectory planning strategies for reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work (Borkar et al., 2016), a multi-agent formation with constant parametric speed was proposed in order to address multiple objectives such as repeated collision-free surveillance and guaranteed sensor coverage of the area with ability for rogue target detection and trapping. Here we address formation reconfiguration within this framework. Smooth parametric trajectories are designed for this purpose using calculus of variations. These are employed in conjunction with a local cooperation scheme to achieve collision-free reconfiguration between different Lissajous curves. A detailed theoretical analysis is provided. The claims are validated through simulations in MATLABⓇfor agents performing parametric motion along the curves, by Software-In-The-Loop simulation for quadrotors, and also experimentally with a team of quadrotors flying in a motion capture environment.
ISSN:0947-3580
1435-5671
DOI:10.1016/j.ejcon.2020.03.005