A Plug & Play Command Generator for Swarm Formation on Multiple Arbitrary Shaped Orbits: a Diffeomorphism-based approach

Bono A., D'Alfonso L., Fedele G., GAZİ V.

IEEE Control Systems Letters, vol.7, pp.2407-2412, 2023 (Scopus) identifier

  • Publication Type: Article / Article
  • Volume: 7
  • Publication Date: 2023
  • Doi Number: 10.1109/lcsys.2023.3286806
  • Journal Name: IEEE Control Systems Letters
  • Journal Indexes: Scopus
  • Page Numbers: pp.2407-2412
  • Keywords: diffeomorphism-based control, distributed path tracking, Multi-agent system, star-shaped sets
  • Yıldız Technical University Affiliated: Yes

Abstract

In this paper, we develop a strategy for arranging a team of agents in orbits of arbitrary shape that pass through a common point that may move. In particular, the shapes are defined by star-shaped sets. The solution is based on its transformation into the traditional circular formation problem and subsequent reconversion. Given the large number of solutions to such a problem, the developed algorithm is well suited as a plug & play command generator to extend these solutions to the promising field of aerial robotic swarms. Two examples of such an application show its ease of implementation.