This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously design complex maneuvers of a compact Micro Aerial Vehicles (MAV) team in a virtual-leader-follower scheme. The results of the motion planning approach and the required stability of the formation are achieved by migrating the virtual leader along with the hull surrounding the formation. This enables us to suddenly change the formation motion in all directions, independently from the current orientation of the formation, and therefore to fully exploit the maneuverability of small multi-rotor helicopters. The proposed method was verified and its performance has been statistically evaluated in numerous simulations and experiments with a fleet of MAVs.

中文翻译：

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严峻环境下无人机的编队控制

本文提出了一种新颖的控制和运动计划的方法，该方法用于在杂乱无章的GPS上被限制在狭窄的地面上的多个无人机（多旋翼直升机，在文献中也通常被称为无人机或无人机系统）的编队。环境。所提出的方法使我们能够以虚拟领导者跟随方案自主设计紧凑型微型飞行器（MAV）团队的复杂动作。运动计划方法的结果和所需的编队稳定性是通过将虚拟前导杆以及围绕编队的船体迁移而实现的。这使我们能够独立于编队的当前方向突然改变编队在所有方向上的运动，从而充分利用小型多旋翼直升机的机动性。