27th Congress of International Council of the Aeronautical Sciences, 19 - 24 September 2010, Nice, France
Paper ICAS 2010-6.4.4

SIMPLE FORMATION CONTROL SCHEME TOLERANT TO COMMUNICATION FAILURES FOR SMALL UNMANNED AIR VEHICLES

T. Hino
Univ. of Tokyo, Japan

Keywords: small uav, formation flight control, virtual leader

In this paper, a formation control scheme tolerant to heavy communication failures is proposed.The proposed scheme is based on virtual-leader approach.The performance of proposed scheme is evaluated by simulation and flight tests.Simulation results show that the formation be formed even if only 5% of the communication succeeds.

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