UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies

The UAV formation control is one of the key aspects in several applications like surveillance, moving target tracking, load-transportation, and delivery systems etc. These situations demand the multiple UAVs to manoeuvre in a desired formation. To address this problem, a distributed formation control scheme is proposed incorporating the details about the state of the neighbouring UAVs. The communication network topology among the UAVs is considered to be directed with the constant and the weighted adjacency matrices. The nonholonomic constraints are considered while deriving the desired Euler angles. Satisfying the conditions of Lyapunov provides necessary proof of stability along the positional and the attitude subsystems. Simulation results demonstrate that the desired tetrahedron, octahedron, and cube shapes are attained and maintained by the UAVs successfully. Also, the designed formation paradigm works proficiently for both the constant and the weighted adjacency matrices based directed network topologies. The performance validation is done through extensive comparative analysis for varying network connections

Qualitative research approaches for studying local food environment and drivers of food purchase in South Asia

The High Level Panel of Experts on Food Security and Nutrition (2017)’s definition of the food environment has been expanded to include the significant issue of sustainability and the different types of food environment relevant to low- to middle-income countries (Downs et al., 2020), while Turner et al. (2018) builds on food environment research into the socio- ecological theory that posits that inter- related personal and environmental factors determine health-related behaviors

Conservation agriculture, livestock and livelihood strategies in the Indo-Gangetic Plains of South Asia: Synergies and tradeoffs

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Digitally-enabled information and service platforms for pro-poor agro-livestock value chains

Presentation to an ILRI- IBM Informal meeting, New Delhi, India, 31 August 201

UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies

1285-1296The UAV formation control is one of the key aspects in several applications like surveillance, moving target tracking, load-transportation, and delivery systems etc. These situations demand the multiple UAVs to manoeuvre in a desired formation. To address this problem, a distributed formation control scheme is proposed incorporating the details about the state of the neighbouring UAVs. The communication network topology among the UAVs is considered to be directed with the constant and the weighted adjacency matrices. The nonholonomic constraints are considered while deriving the desired Euler angles. Satisfying the conditions of Lyapunov provides necessary proof of stability along the positional and the attitude subsystems. Simulation results demonstrate that the desired tetrahedron, octahedron, and cube shapes are attained and maintained by the UAVs successfully. Also, the designed formation paradigm works proficiently for both the constant and the weighted adjacency matrices based directed network topologies. The performance validation is done through extensive comparative analysis for varying network connections