Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies

  • Isaac KaminerEmail author
  • Enric Xargay
  • Venanzio Cichella
  • Naira Hovakimyan
  • António Manuel Pascoal
  • A. Pedro Aguiar
  • Vladimir Dobrokhodov
  • Reza Ghabcheloo


This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case studies: a simultaneous arrival mission scenario and a sequential auto-landing of a fleet of UAVs. In the adopted setup, the UAVs are assigned nominal spatial paths and speed profiles along those paths; the vehicles are then tasked to execute cooperative path following, rather than “open-loop” trajectory tracking. This cooperative strategy yields robust behavior against external disturbances by allowing the UAVs to negotiate their speeds along the paths in response to information exchanged over a supporting communications network.


Unmanned Aerial Vehicle Coordination State Transition Path Virtual Target Multiple UAVs 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Isaac Kaminer
    • 1
    Email author
  • Enric Xargay
    • 2
  • Venanzio Cichella
    • 2
  • Naira Hovakimyan
    • 2
  • António Manuel Pascoal
    • 3
  • A. Pedro Aguiar
    • 4
  • Vladimir Dobrokhodov
    • 1
  • Reza Ghabcheloo
    • 5
  1. 1.Naval Postgraduate SchoolMontereyUSA
  2. 2.University of Illinois at Urbana-ChampaignUrbanaUSA
  3. 3.Instituto Superior TécnicoUniversity of LisbonLisbonPortugal
  4. 4.Faculty of EngineeringUniversity of PortoPortoPortugal
  5. 5.Tampere University of TechnologyTampereFinland

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