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Reconfiguration Between Longitudinal and Circular Formations for Multi-UAV Systems by Using Segments

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Abstract

In typical monitoring applications, such as fires or deforestation, the agents of the unmanned aircraft squadron must follow a circular motion. However, for other applications, including take off and landing, the squadron must obey the longitudinal formation. In this work an algorithm is proposed to reconfigure the unmanned aircraft squadron between its latitudinal and circular formations. The algorithm is designed by using a new approach based on segments. The time complexity of the proposed algorithm is analyzed and its correction is proved. The proof of correction is confirmed by the simulations.

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Authors and Affiliations

  1. Departamento de Ciências Exatas e Tecnológicas, Universidade Estadual de Santa Cruz, Ilhéus-BA, Brazil

    Paulo André Sperandio Giacomin

  2. Technological Institute of Aeronautics, Systems and Control Department, Sāo José dos Campos-SP, Brazil

    Elder Moreira Hemerly

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  1. Paulo André Sperandio Giacomin
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  2. Elder Moreira Hemerly
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Correspondence to Paulo André Sperandio Giacomin.

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This project is supported by CAPES.

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Sperandio Giacomin, P.A., Hemerly, E.M. Reconfiguration Between Longitudinal and Circular Formations for Multi-UAV Systems by Using Segments. J Intell Robot Syst 78, 339–355 (2015). https://doi.org/10.1007/s10846-014-0063-4

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  • DOI: https://doi.org/10.1007/s10846-014-0063-4

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