2025/03/11 by Hyungsoo Kang, Isaac Kaminer, Kang, Hyungsoo +5
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #Energy Efficient Wireless Sensor Networks #FOS: Electrical engineering #Systems and Control (eess.SY) #UAV Applications and Optimization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2503.08129
openalex publication_date 2025/03/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.