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Though multi-agent formation and consensus have been studied intensively recently, very few of the research focuses on their engineering realization using rotor-craft unmanned air vehicle (UAV) as the basic platform. Some assumptions in many theoretical study present challenges in engineering realization, such as the over-simplified dynamic model or sensor model of each agent. In this paper, we present...
A hierarchical-distributed methodology (HDM) is presented to implement the autonomous mission execution for multiple unmanned aerial vehicles (UAVs). The main idea of HDM is to divide the event control law into the group and individual event control laws. The group event control law is focused on the mission events. The individual event control laws are focused on the task events and motion events...
Obstacle avoidance is one of the most challenging problems for the topic of UAV indoor navigation. In this paper, an indoor obstacle avoidance strategy based on Scanning Laser Range Finder (SLRF) is developed, so that high-level flight commands and flight paths can be generated for an unmanned coaxial rotorcraft in real time. The developed strategy comprises three flight modes including hovering turn,...
We present in this paper the actual implementation results of flight formation of multiple unmanned helicopters. More specifically, we consider a leader-follower formation flight behavior with two scenarios: 1) the flight formation test with the leader being a manned helicopter following a zigzag-like trajectory, and 2) the flight test with the leader being an unmanned system following circle and...
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