Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments

In this paper, we present our recent advances in both theoretical methods and field experiments for the coordinated control of miniature fixed-wing unmanned aerial vehicle(UAV) swarms. We propose a multi-layered group-based architecture, which is modularized, mission-oriented, and can implement large-scale swarms. To accomplish the desired coordinated formation flight, we present a novel distributed coordinated-control scheme comprising a consensus-based circling rendezvous, a coordinated path-following control for the leader UAVs, and a leader-follower coordinated control for the follower UAVs. The current framework embeds a formation pattern reconfiguration technique. Moreover, we discuss two security solutions(inter-UAV collision avoidance and obstacle avoidance) in the swarm flight problem. The effectiveness of the proposed coordinated control methods was demonstrated in field experiments by deploying up to 21 fixed-wing UAVs.