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Chin. Phys. B, 2020, Vol. 29(5): 050701    DOI: 10.1088/1674-1056/ab7da2
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Hunting problems of multi-quadrotor systems via bearing-based hybrid protocols with hierarchical network

Zhen Xu(徐振)1,2, Xin-Zhi Liu(刘新芝)2, Qing-Wei Chen(陈庆伟)1, Zi-Xing Wu(吴梓杏)1,2
1 School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;
2 Department of Applied Mathematics, University of Waterloo, Waterloo N2L 3G1, Canada
Abstract  Bearing-based hunting protocols commonly adopt a leaderless consensus method, which requests an entire state of the target for each agent and ignores the necessity of collision avoidance. We investigate a hunting problem of multi-quadrotor systems with hybrid bearing protocols, where the quadrotor systems are divided into master and slave groups for reducing the onboard loads and collision avoidance. The masters obtain the entire state of the target, whose hybrid protocols are based on the displacement and bearing constraints to maintain formation and to avoid the collision in the hunting process. However, the slaves' protocols merely depend on the part state of the masters to reduce loads of data transmission. We also investigate the feasibility of receiving the bearing state from machine vision. The simulation results are given to illustrate the effectiveness of the proposed hybrid bearing protocols.
Keywords:  hunting problem      multi-quadrotor system      bearing constraint      hierarchical network  
Received:  21 January 2020      Revised:  20 February 2020      Accepted manuscript online: 
PACS:  07.05.Dz (Control systems)  
  02.30.Yy (Control theory)  
  02.20.-a (Group theory)  
Fund: Project supported by the National Natural Science Foundation of China (Grant Nos. 61673217 and 61673214), the National Defense Basic Scientific Research Program of China (Grant No. JCKY2019606D001), and the China Scholarship Council.
Corresponding Authors:  Qing-Wei Chen     E-mail:

Cite this article: 

Zhen Xu(徐振), Xin-Zhi Liu(刘新芝), Qing-Wei Chen(陈庆伟), Zi-Xing Wu(吴梓杏) Hunting problems of multi-quadrotor systems via bearing-based hybrid protocols with hierarchical network 2020 Chin. Phys. B 29 050701

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