Abstract
In this paper, we summarise our recent results in fault tolerant formation control of Unmanned Air Vehicles (UAV). A fault tolerant control scheme to deal with both GPS sensor failure and wireless communication packet losses is presented. Moreover, some extensions to the formation control algorithms developed by UC Berkeley are made to support time-varying heading and curved flight trajectories. The effectiveness of the presented fault tolerant control scheme is illustrated by real-time formation flight simulations conducted in a wireless network environment. Both rotary and fixed wing UAVs, mesh and triangular formations, and straight and curved trajectories are considered in our real-time simulations.
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