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    Area of Science:

    • Robotics
    • Control Systems
    • Aerospace Engineering

    Background:

    • Traditional distance-based formation control for autonomous aerial vehicles (AAVs) requires complex distance measurements and individual command updates.
    • Existing bearing-based methods often lack precise control over convergence time and precision.

    Purpose of the Study:

    • To develop a simplified, robust bearing-based formation control method for AAV swarms.
    • To enable users to pre-specify both convergence time and precision for swarm formations.
    • To reduce hardware and sensing requirements compared to distance-based approaches.

    Main Methods:

    • Utilizes bearing information instead of direct distance measurements for simplified constraints.
    • Employs a continuous hyperbolic tangent saturation function and an input saturation compensation system.
    • Formation reconfiguration is achieved by adjusting leader trajectories, eliminating individual AAV command updates.

    Main Results:

    • Demonstrates enhanced robustness against real-world input constraints.
    • Ensures system convergence and precision while mitigating singularity issues.
    • Successfully validates the approach with a 6-degree-of-freedom (6DoF) quadrotor AAV swarm.

    Conclusions:

    • The proposed bearing-based control method offers a practical and effective solution for AAV swarm formation.
    • It provides superior flexibility by allowing preset control over convergence time and precision.
    • The approach reduces system complexity and enhances robustness for real-world applications.