This paper develops a complete framework for coordinated control of multiple unmannedair vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints in restricted airspace. The framework proposed includesstrategies for deconflicted real-time path generation, nonlinear path following, and multiple vehicle coordination. Path following relies on the augmentation of existing autopilotswith L1 adaptive output feedback control laws to obtain inner-outer loop control structures with guaranteed performance. Multiple vehicle coordination is achieved by enforcingtemporal constraints on the speed pro les of the vehicles along their paths in response toinformation exchanged over a communication network. Again, L1 adaptive control is usedto yield an inner-outer loop structure for vehicle coordination.A rigorous proof of stability and performance bounds of the combined path followingand coordination strategies is given. Flight test results obtained at Camp Roberts, CA in2007 demonstrate the benefits of using L1 adaptive control for path following of a singlevehicle. Hardware-in-the-loop simulations for two vehicles are discussed and provide aproof of concept for time-critical coordination of multiple vehicles over communicationnetworks with fixed topologies.
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