Distributed Event-Triggered Formation Control of Multiple UAVs with Communication Delays

This paper addresses the formation control problem of multiple quadrotor unmanned aerial vehicles (UAVs) systems, considering communication delays and limited communication resources. To tackle this issue, a distributed event-triggered formation control algorithm is proposed within a hierarchical framework. Specifically, we present a distributed command force that only utilizes the relative position information from neighboring UAVs, thereby reducing the measurement costs. With the proposed event-triggered mechanism, our algorithm can achieve the desired formation with reduced communication costs, while avoiding Zeno behavior.Finally, simulation results are provided to demonstrate the effectiveness of the proposed algorithm.