UAV Formation Preservation for Target Tracking Applications

This paper presents a collaborative target tracking application with multiple agents and a formulation of an agent-formation problem with desired inter-agent distances and specified bounds. We propose a barrier Lyapunov function-based distributed control law to preserve the formation for target-tracking and assess its stability using a kinematic model. Numerical results with this model are presented to demonstrate the advantages of the proposed control over a quadratic Lyapunov function-based control. A concluding evaluation using experimental ROS simulations is presented to illustrate the applicability of the proposed control approach to a multi-rotor system and a target executing straight line and circular motion.