UAVs formation approach using fast marching square methods

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dc.contributor.author Monje Micharet, Concepción Alicia
dc.contributor.author Garrido Bullón, Luis Santiago
dc.contributor.author Moreno López, Lourdes
dc.contributor.author Balaguer Bernaldo de Quirós, Carlos
dc.date.accessioned 2022-01-20T10:37:11Z
dc.date.available 2022-01-20T10:37:11Z
dc.date.issued 2020-05-01
dc.identifier.bibliographicCitation Monje, 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.
dc.identifier.issn 0885-8985
dc.identifier.uri http://hdl.handle.net/10016/33921
dc.description.abstract This 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.
dc.description.sponsorship This 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.
dc.format.extent 11
dc.language.iso eng
dc.publisher IEEE
dc.rights © 2020, IEEE.
dc.subject.other Trajectory
dc.subject.other Planning
dc.subject.other Unmanned aerial vehicles
dc.subject.other Kinematics
dc.subject.other Safety
dc.subject.other Robots
dc.title UAVs formation approach using fast marching square methods
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1109/MAES.2020.2978959
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2018/NMT-4331
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 36
dc.identifier.publicationissue 5
dc.identifier.publicationlastpage 46
dc.identifier.publicationtitle IEEE Aerospace and Electronic Systems Magazine
dc.identifier.publicationvolume 35
dc.identifier.uxxi AR/0000025743
dc.contributor.funder Comunidad de Madrid
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