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UAVs formation approach using fast marching square methods

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMoreno López, Lourdes
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2022-01-20T10:37:11Z
dc.date.available2022-01-20T10:37:11Z
dc.date.issued2020-05-01
dc.description.abstractThis article presents a novel method for the management of UAVs formations. Based on the fast marching square (FM2) technique, the proposed method allows the generation of soft realizable paths for a formation in leader-followers configuration, keeping a desired geometry among its different agents. The solution presented here also allows the UAVs formation to adapt its shape so that the obstacles can be avoided, at the same time that a flight level can be fixed with respect to the ground. Simulation results will be presented in different environments to show the validity and robustness of the approach.en
dc.description.sponsorshipThis research was supported by RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, Fase IV; S2018/NMT-4331), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.en
dc.format.extent11
dc.identifier.bibliographicCitationMonje, C. A., Garrido, S., Moreno, L. & Balaguer, C. (2020). UAVs Formation Approach Using Fast Marching Square Methods. IEEE Aerospace and Electronic Systems Magazine, 35(5), 36–46.en
dc.identifier.doihttps://doi.org/10.1109/MAES.2020.2978959
dc.identifier.issn0885-8985
dc.identifier.publicationfirstpage36
dc.identifier.publicationissue5
dc.identifier.publicationlastpage46
dc.identifier.publicationtitleIEEE Aerospace and Electronic Systems Magazineen
dc.identifier.publicationvolume35
dc.identifier.urihttps://hdl.handle.net/10016/33921
dc.identifier.uxxiAR/0000025743
dc.language.isoengen
dc.publisherIEEEen
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© 2020, IEEE.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherTrajectoryen
dc.subject.otherPlanningen
dc.subject.otherUnmanned aerial vehiclesen
dc.subject.otherKinematicsen
dc.subject.otherSafetyen
dc.subject.otherRobotsen
dc.titleUAVs formation approach using fast marching square methodsen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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