The paper introduces a method for deploying a multi-agent system of UAVs as a shield to protect infrastructures. The algorithm designs the desired formation by ensuring agents are uniformly distributed over a virtual surface and connected in a Delaunay triangulation. A control law based on potential functions is proposed to acquire the desired shield shape and maintain stability. The approach is validated through simulation and experimental results with micro-aerial vehicles.
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by Marí... lúc arxiv.org 03-18-2024
https://arxiv.org/pdf/2310.19681.pdfYêu cầu sâu hơn