Rogelio Lozano & Josep M. Guerrero 
Flight Formation Control 

In the last decade the development and control of Unmanned
Aerial Vehicles (UAVs) has attracted a lot of interest. Both
researchers and companies have a growing interest in improving this
type of vehicle given their many civilian and military
applications.

This book presents the state of the art in the area of UAV Flight
Formation. The coordination and robust consensus approaches are
presented in detail as well as formation flight control strategies
which are validated in experimental platforms. It aims at helping
students and academics alike to better understand what coordination
and flight formation control can make possible.

Several novel methods are presented:

– controllability and observability of multi-agent systems;

– robust consensus;

– flight formation control;

– stability of formations over noisy networks;

which generate solutions of guaranteed performance for UAV Flight
Formation.

Contents

1. Introduction, J.A. Guerrero.

2. Theoretical Preliminaries, J.A. Guerrero.

3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano,
M.W. Spong, N. Chopra.

4. Robust Control Design for Multiagent Systems with Parametric
Uncertainty, J.A. Guerrero, G. Romero.

5. On Adaptive and Robust Controlled Synchronization of Networked
Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N.
Chopra.

6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A.
Guerrero, J. Escareño, R. Lozano.

7. Flight Formation Control Strategies for Mini UAVs, J.A.
Guerrero.

8. Formation Based on Potential Functions, L. García, A.
Dzul.

9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A.
Guerrero, S. SALAZAR, R. Lozano, P. Castillo.

10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R.
García Carrillo, J.A. Guerrero, R. Lozano.

11. Optimal Guidance for Rotorcraft Platoon Formation Flying in
Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano.

12. Impact of Wireless Medium Access Protocol on the Quadrotor
Formation Control, J.A. Guerrero, Y. Challal, P. Castillo.

13. MAC Protocol for Wireless Communications, A. Mendez, M.
Panduro, O. Elizarraras, D. Covarrubias.

14. Optimization of a Scannable Pattern for Bidimensional Antenna
Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A.
Mendez.

About the author

J.A. Guerrero has a Postdoctoral Position, Heudiasyc CNRS UMR 6599, at Universite de Technologie de Compiegne, Paris, France.

R. Lozano is CNRS Research Director Heudiasyc CNRS UMR 6599 at Universite de Technologie de Compiegne, Compiegne, France and at LAFMIA UMI 3175 CINVESTAV, Mexico City, Mexico.