In this article, cooperative circumnavigation (CCN) is studied for groups of networked unmanned aerial vehicles (UAVs) under a directed interaction topology. The CCN drives UAVs to given planar ellipses with desired spatial formation. A first contribution is that based on affine transformations, CCN control design is structured, which can deploy UAVs on spatial orbits with different radii concerning a moving target in 3-D space. Second, no global information, such as the formation center, the desired radius, the angular velocity of circumnavigation, etc., is needed for any follower UAVs since they are completely maneuvered by the leader UAVs.

中文翻译：

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网络化无人飞行器的全分布式协同飞行

在本文中，针对定向交互拓扑下的联网无人飞行器（UAV）组研究了协作式环行导航（CCN）。CCN将无人机驱动到具有所需空间形式的给定平面椭圆。第一个贡献是基于仿射变换，构造了CCN控制设计，该设计可以将无人机部署在具有不同半径的3D空间中移动目标的空间轨道上。其次，对于任何随从无人机来说，不需要任何全局信息，例如编队中心，所需半径，绕行角速度等，因为它们完全由前导无人机操纵。