FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control

2026-08-21

AI Summary

研究解决了无人机在高速敏捷编队飞行时保持阵型的难题，通过提出一种结合模型预测轮廓控制的新方法，并经仿真和实验验证。

Abstract

Flying in a prescribed formation in an agile manner remains a challenging problem in the field of UAVs, particularly when following highly-demanding trajectories that require flight at platform limits. We address this problem by proposing a novel decentralized approach to formation flight along a given path that integrates formation maintenance into the MPCC framework, allowing UAVs to adapt their progression along complex paths while respecting individual dynamic constraints and maintaining the desired formation. To this end, we introduce a novel reparametrization and synchronization method for dynamic formation geometries together with a decentralized approach to determine the desired positions for the individual UAVs. The proposed approach allows the formation to coordinate high-speed path following without compromising formation integrity. The proposed approach is validated through extensive simulation and real-world experiments involving scenarios with varying complexity of paths and changes of required formation shape on the fly. In comparison to time-parameterized trajectory tracking, we demonstrate improved formation maintenance by 65% in high-speed flight with velocities up to 21 m/s, while achieving comparable times required to reach the goal.

Problem

• formation flight
• UAVs
• agile maneuvering
• high-speed flight
• trajectory tracking

Innovation

• FF-MPCC
• Model Predictive Contouring Control
• decentralized approach
• formation maintenance
• high-speed agile flight