Robust Multi-UAV System Collaboration under Limited Perception

In recent years, the cooperation of multi-unmanned systems has gained popularity in the field of control science . It has attracted significant attention due to its scalability, self-organization, strong robustness, and cost-effectiveness, and has been extensively researched in various scenarios . In practical applications, addressing the conflicting objectives of reducing system complexity while enhancing efficiency proves challenging for individual unmanned systems. This paper aims to study how to design effective strategies to achieve robust collaboration among multi-unmanned systems under conditions of data noise. By transforming the constraints of multi-UAV formation control into the constraints of Model Predictive Control (MPC) optimization problems, the obstacle avoidance problem of multi-UAV formation flight under limited perception is described as a constrained MPC optimization problem. Connectivity maintenance is addressed with the consideration that onboard sensors exhibit heterogeneity, indicating distinct communication ranges for each UAV. Finally, the effectiveness and robustness of the proposed algorithm are validated through numerical simulations.