Distributed data-driven UAV formation control via evolutionary games: experimental results
This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each o...
| Autores: | , , , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/356231 |
| Acceso en línea: | https://hdl.handle.net/2117/356231 https://dx.doi.org/10.1016/j.jfranklin.2021.05.002 |
| Access Level: | acceso abierto |
| Palabra clave: | Game theory Drone aircraft Jocs, Teoria de Avions no tripulats Data-driven control Evolutionary dynamics Mobile robots Formation control UAVs Real implementation Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance. |
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