Distributed data-driven UAV formation control via evolutionary games: Experimental results

This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance.J. Barreiro-Gomez acknowledges support from U.S. Air Force Office of Scientific Research under grant number FA9550-17-1-0259, and from the Research Center on Stability, Instability and Turbulence (SITE). This material is based upon work supported by Tamkeen under the NYU Abu Dhabi Research Institute grant CG002. I. Mas, J. I. Giribet, P. Moreno and R. Sanchez-Peña acknowledge the support of the W911NF-14-1-0008 grant from the USAITC (RDECOM, USA), and PICT 2014-2055 and PICT 2016-2016 from FONCYT (Argentina). C. Ocampo-Martinez acknowledges the project DEOCS Ref. DPI2016-76493-C3-3-R from the Spanish Ministry of Science and Education for partially supporting this research. N. Quijano thanks support from Air Force Office of Scientific Research. This material is based upon work supported by the Air Force Office of Scientific Research under award number FA9550-19-1-0014