A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance

Article Remote Sensing

Predefined Location Formation: Keeping Control for UAV Clusters Based on Monte Carlo Strategy

Shuzhen Li et al.

Summary: This study proposes a passive positioning model for UAVs based on the Monte Carlo strategy and provides a trajectory programming decision scheme based on the predicted calculation of deviated UAV predefined endpoint locations, effectively improving the efficiency of UAVs performing formation-keeping tasks during flight. The simulation after sampling by Gaussian distribution is used to obtain the trajectory planning under simultaneous control of multiple cluster formations, and the feasibility, accuracy, and stability of the proposed model are verified. This study provides useful guidance for UAV formation control applications.

DRONES (2023)

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Article Remote Sensing

Multi-UAV Formation Control in Complex Conditions Based on Improved Consistency Algorithm

Canhui Tao et al.

Summary: This article designs a control protocol for formation models with communication delay and switching topology, considering non-symmetrical communication interference and network congestion. The three-degrees-of-freedom kinematics equation of the UAV is derived based on the autopilot model of longitudinal and lateral decoupling, and acceleration, velocity, and angular velocity constraints are defined according to flight performance and maneuverability requirements. The control protocol is adjusted accordingly and the results show that it can quickly converge the UAV formation state and maintain the formation with communication delay and switching topology.

DRONES (2023)

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Article Engineering, Electrical & Electronic

Pseudo RGB-D Face Recognition

Bo Jin et al.

Summary: This article presents a method for generating pseudo RGB-D face depth maps using generative adversarial networks and image fusion technologies, and validates its effectiveness in face recognition.

IEEE SENSORS JOURNAL (2022)

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Article Robotics

Agile Formation Control of Drone Flocking Enhanced With Active Vision-Based Relative Localization

Peihan Zhang et al.

Summary: This paper proposes a novel distributed active vision-based relative localization framework for formation control in aerial swarms. Inspired by bird flocks, omnidirectional visual detection is realized with a novel active vision structure, and graph-based attention planning is used for optimal observation target assignment. The fusion of active visual detection results with other measurements enables real-time relative position estimation and improves formation control performance.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

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Article Engineering, Aerospace