Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies
Fuente:
arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866916649541566464 |
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| author | Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira |
| author_facet | Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira |
| contents | This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its progression information to its neighbor UAVs only when a decentralized trigger condition is satisfied. Consequently, it significantly reduces the volume of inter-vehicle communications required to achieve the goal compared with the existing algorithms based on continuous communication. With such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Furthermore, a lower bound on the difference between two consecutive event-triggered times is provided showing that the Zeno behavior is excluded with the proposed algorithm. Lastly, simulation results validate the efficacy of the proposed algorithm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_08129 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies Kang, Hyungsoo Kaminer, Isaac Cichella, Venanzio Hovakimyan, Naira Systems and Control This article presents a novel time-coordination algorithm based on event-triggered communication to ensure multiple UAVs progress along their desired paths in coordination with one another. In the proposed algorithm, a UAV transmits its progression information to its neighbor UAVs only when a decentralized trigger condition is satisfied. Consequently, it significantly reduces the volume of inter-vehicle communications required to achieve the goal compared with the existing algorithms based on continuous communication. With such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Furthermore, a lower bound on the difference between two consecutive event-triggered times is provided showing that the Zeno behavior is excluded with the proposed algorithm. Lastly, simulation results validate the efficacy of the proposed algorithm. |
| title | Coordinated Path Following of UAVs using Event-Triggered Communication over Networks with Digraph Topologies |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.08129 |