Cooperative target enclosing problem with multiple unmanned microaerial vehicles is addressed. A local controller based on a binary-tree (BT) communication topology is presented for the target enclosing formation. A sufficient condition is derived for the formation stability by a recursive Lyapunov method. In this article, a switching rule of the BT topology is developed to cope with the emergent failures of target sensing and the formation scalabilities. Besides, in order to accommodate the enclosure in complicated environments, a multitask framework is constructed which is compatible with the local control protocols. Comparative experiments on both simulations and platforms demonstrate the effectiveness of the theoretical results.

中文翻译：

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基于二叉树的微型飞行器目标包围配合方案

解决了与多个无人飞行器协同合作的目标封闭问题。针对目标封闭地层，提出了一种基于二叉树（BT）通信拓扑的本地控制器。通过递归李雅普诺夫（Lyapunov）方法推导了地层稳定性的充分条件。在本文中，开发了BT拓扑的切换规则以应对目标感测和地层可扩展性的紧急故障。此外，为了在复杂的环境中容纳外壳，构造了与本地控制协议兼容的多任务框架。在仿真和平台上的对比实验证明了理论结果的有效性。