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Decentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders

Takuma Hino


In this paper, a simple but robust formation control scheme for unmanned aerial vehicles is proposed. The proposed scheme is based on the virtual leader approach. Mathematical proof is provided to show that the scheme allows formations to converge, as long as sufficient communications between formation members take place. Monte Carlo tests showed that the proposed
scheme allows formations with 95% of the possible communication networks to converge. Also, numerical simulations showed that proposed scheme allows formations to converge even if only 10% of the total communication succeeds.

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