Viktor Walter presents Distributed UAV formation control robust to relative pose measurement noise
On 2026-04-30 11:00:00 at E112, Karlovo náměstí 13, Praha 2
A technique that allows a Formation-Enforcing Control (FEC) derived from graph
rigidity theory to interface with a realistic relative localization system
onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper.
The proposed methodology enables reliable real-world deployment of UAVs in
tight
formations using relative localization systems burdened by non-negligible
sensory noise. Such noise otherwise causes undesirable oscillations and drifts
in sensor-based formations, and this effect is not sufficiently addressed in
existing FEC algorithms. The proposed solution is based on decomposition of the
gradient descent-based FEC command into interpretable elements, and then
modifying these individually based on the estimated distribution of sensory
noise, such that the resulting action limits the probability of overshooting
the
desired formation. The behavior of the system was analyzed and the practicality
of the proposed solution was compared to pure gradient-descent in real-world
experiments where it presented significantly better performance in terms of
oscillations, deviation from the desired state and convergence time.
Paper URL: https://www.sciencedirect.com/science/article/pii/S0921889026001314
Standard seminar length ~ 40 min talk, 20 min discussion
rigidity theory to interface with a realistic relative localization system
onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper.
The proposed methodology enables reliable real-world deployment of UAVs in
tight
formations using relative localization systems burdened by non-negligible
sensory noise. Such noise otherwise causes undesirable oscillations and drifts
in sensor-based formations, and this effect is not sufficiently addressed in
existing FEC algorithms. The proposed solution is based on decomposition of the
gradient descent-based FEC command into interpretable elements, and then
modifying these individually based on the estimated distribution of sensory
noise, such that the resulting action limits the probability of overshooting
the
desired formation. The behavior of the system was analyzed and the practicality
of the proposed solution was compared to pure gradient-descent in real-world
experiments where it presented significantly better performance in terms of
oscillations, deviation from the desired state and convergence time.
Paper URL: https://www.sciencedirect.com/science/article/pii/S0921889026001314
Standard seminar length ~ 40 min talk, 20 min discussion