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Virtual Structure Formation
Problem Statement
Virtual-structure control treats the swarm as one rigid body with assigned slots for each agent. It enables precise geometric formations during coordinated maneuvers.
Model and Formulation
Each agent tracks:
$$ p_i^{ref}(t) = p_{vs}(t) + R_{vs}(t) r_i $$
where p_{vs}, R_{vs} define the structure pose and r_i is agent slot offset.
Practical Notes
- Works best with reliable relative localization.
- Slot assignment should minimize crossing paths during reconfiguration.
- Tracking gains should account for heterogeneous agent dynamics.
Implementation and Execution
bash
python -m uav_sim.simulations.swarm.virtual_structureEvidence
References
- Lewis and Tan, High Precision Formation Control Using Virtual Structures (1997)
- Beard et al., Coordination Variables and Consensus Building in Multiple Vehicle Systems