Trajectory Tracking in the Desired Formation around a Target by Multiple UAV Systems

摘要

In this work, a target-centric formation of multiple Unmanned Aerial Vehicle (UAV) system is presented based on the Kalman filter. Network connectivity among the UAVs is essential for sharing information during real-time implementation. A framework to recognize such network connectivity is incorporated by considering the Eigen value of the Laplacian matrix of the UAVs in formation. Chasing and covering of targets by a number of UAVs are depicted through simulation results. The network connectivity among the UAVs in the formation is also presented to show the applicability of this work to different cases of a multi-UAV formation control.