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Agregation Scheme of Collision Avoidance Control and Formation Forming & Keeping by Topology Switching

Tata Sudiyanto, Bambang Riyanto Trilaksono, Agus Budiyono, Widyawardana Adiprawita


A control agregation scheme that combines a collision avoidance controller into a consensus-based formation controller is proposed. The collision avoidance controller part is designed using kinematic model approach, while the consensus-based formation controller part uses consensus algorithm with switching topology to achive non-conflicting control solution between the collision avoidance control part and the formation control part. We also investigate how the change in communication topology affects system’s capability to achieve consensus.


control system agregation, switching topology, formation control, consensus algorithm, collision avidance, kinematic model, multi-vehicle control system, UAV

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