Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths

• URL: http://arxiv.org/abs/2603.23968v1
• Date: Wed, 25 Mar 2026 06:01:54 GMT
• Title: Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths
• Abstract summary: Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace.<n>Existing methods lack efficient distributed coordination mechanisms for time-consistent tracking of 3D differentiated paths, fail to quantify robustness against disturbances, and lack effective online obstacle avoidance replanning capabilities.<n>A cooperative control strategy is proposed: first, the distributed cooperative path-following problem is quantified via time indices, and consistency is ensured through a distributed communication protocol.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles, and requirements of distributed temporal synchronization during differentiated path tracking. Existing methods lack efficient distributed coordination mechanisms for time-consistent tracking of 3D differentiated paths, fail to quantify robustness against disturbances, and lack effective online obstacle avoidance replanning capabilities. To address these gaps, a cooperative control strategy is proposed: first, the distributed cooperative path-following problem is quantified via time indices, and consistency is ensured through a distributed communication protocol; second, a longitudinal-lateral look-ahead angle adjustment method coupled with a robust guidance law is developed to achieve finite-time stabilization of path following error to zero under wind disturbances; third, an efficient local path replanning method with minimal time cost is designed for real-time online obstacle avoidance.Experimental validations demonstrate the effectiveness and superiority of the $\ $proposed strategy.

Related papers

• ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots [1.7032702581423906]
  This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots.<n>The proposed approach models the robotic team and the shared payload as a dynamically coupled networked system.<n>The resulting distributed framework enforces consensus over both payload-state and interaction-wrench trajectories.
  arXiv  Detail & Related papers  (2026-07-18T23:44:03Z)
• RAD-2: Scaling Reinforcement Learning in a Generator-Discriminator Framework [49.531001563853984]
  RAD-2 is a unified generator-discriminator framework for closed-loop planning.<n>It produces diverse trajectory candidates, while an RL-optimized discriminator reranks these candidates according to their long-term driving quality.<n>It reduces the collision rate by 56% compared with strong diffusion-based planners.
  arXiv  Detail & Related papers  (2026-04-16T17:59:44Z)
• Path-Following Guidance for Unmanned Aerial Vehicle with Bounded Lateral Acceleration [1.4477778415264126]
  This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints.<n>A nonlinear guidance framework is developed employing a nested saturation-based control technique.<n>The proposed guidance strategy guarantees bounded control inputs while ensuring exponential convergence of cross-track errors to zero.
  arXiv  Detail & Related papers  (2026-03-28T07:28:18Z)
• Accelerated Spline-Based Time-Optimal Motion Planning with Continuous Safety Guarantees for Non-Differentially Flat Systems [6.862015448582809]
  State-of-the-art approaches formulate spline-based motion planning as a single Control Problem (OCP)<n>By treating separation as an independent classification problem solvable via a linear system or quadratic program, the proposed method eliminates hyperplane parameters from the OCP variables.<n> Experimental validation demonstrates that this decoupled approach reduces trajectory times up to almost 60% compared to fully-rich environments.
  arXiv  Detail & Related papers  (2026-03-25T09:53:04Z)
• Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM [0.0]
  In structured multi-agent projects, agents often must follow predefined routes, making rerouting or impossible.<n>This paper addresses route-constrained multi-agent coordination by optimizing waypoint times while preserving each agent's assigned waypoint order and nominal route assignment.
  arXiv  Detail & Related papers  (2026-03-23T12:34:18Z)
• Blockchain-Enabled Routing for Zero-Trust Low-Altitude Intelligent Networks [77.17664010626726]
  We focus on the routing with multiple UAV clusters in low-altitude intelligent networks (LAINs)<n>To minimize the damage caused by potential threats, we present the zero-trust architecture with the software-defined perimeter and blockchain techniques.<n>We show that the proposed framework reduces the average E2E delay by 59% and improves the TSR by 29% on average compared to benchmarks.
  arXiv  Detail & Related papers  (2026-02-27T04:30:35Z)
• Balancing Efficiency and Fairness: An Iterative Exchange Framework for Multi-UAV Cooperative Path Planning [6.14294229178003]
  Multi-UAV cooperative path planning (MU CPP) is a fundamental problem in multi-agent systems.<n>This paper presents a novel Iterative Exchange Framework for MU CPP, balancing efficiency and fairness through iterative task exchanges and path refinements.
  arXiv  Detail & Related papers  (2025-11-29T09:41:22Z)
• PASS-Enhanced MEC: Joint Optimization of Task Offloading and Uplink PASS Beamforming [67.78883135636657]
  pinching-antenna system (PASS)-enhanced mobile edge computing (MEC) architecture is investigated.<n>PASS establishes short-distance line-of-sight (LoS) links while effectively mitigating the significant path loss and potential signal blockage.<n>We formulate a network latency minimization problem to joint optimize uplink PASS beamforming and task offloading.
  arXiv  Detail & Related papers  (2025-10-27T03:04:46Z)
• Joint AoI and Handover Optimization in Space-Air-Ground Integrated Network [48.485907216785904]
  Low Earth orbit (LEO) satellite constellations offer promising solutions with global coverage and reduced latency.<n>Yet struggle with intermittent coverage and intermittent communication windows due to orbital dynamics.<n>Our three-layer design employs hybrid free-space optical (FSO) links for high-capacity satellite-to-ground communication and reliable radio frequency (RF) links for HAP-to-ground transmission.
  arXiv  Detail & Related papers  (2025-09-16T06:16:56Z)
• Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planning [56.240199425429445]
  Multi-Robot Motion Planning (MPMP) involves generating trajectories for multiple robots operating in a shared continuous workspace.<n>While discrete multi-agent finding (MAPF) methods are broadly adopted due to their scalability, their coarse discretization trajectory quality.<n>This paper tackles limitations of two approaches by introducing discrete MAPF solvers with constrained generative diffusion models.
  arXiv  Detail & Related papers  (2025-08-27T17:59:36Z)
• Two-Timescale Joint Transmit and Pinching Beamforming for Pinching-Antenna Systems [58.27781210487552]
  Pinching antenna systems (PASS) have been proposed as a revolutionary flexible antenna which facilitates line-of-sight links via numerous low-Ku pinching antennas with adjustable activation positions.<n>A primal dual decomposition method is developed to decouple the two-timescale problem into two sub-problems.
  arXiv  Detail & Related papers  (2025-04-13T16:58:35Z)
• Multi-Agent Path Finding in Continuous Spaces with Projected Diffusion Models [57.45019514036948]
  Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics.<n>This work proposes a novel approach that integrates constrained optimization with diffusion models for MAPF in continuous spaces.
  arXiv  Detail & Related papers  (2024-12-23T21:27:19Z)
• Real-time Cooperative Vehicle Coordination at Unsignalized Road Intersections [7.860567520771493]
  Cooperative coordination at unsignalized road intersections aims to improve the safety driving traffic throughput for connected and automated vehicles. We introduce a model-free Markov Decision Process (MDP) and tackle it by a Twin Delayed Deep Deterministic Policy (TD3)-based strategy in the deep reinforcement learning framework. We show that the proposed strategy could achieve near-optimal performance in sub-static coordination scenarios and significantly improve control in the realistic continuous flow.
  arXiv  Detail & Related papers  (2022-05-03T02:56:02Z)
• Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning [21.500697097095408]
  Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem because of the high computational cost. We propose a Hierarchical Reinforcement Learning structure combined with a Proportional-Integral-Derivative (PID) controller for trajectory planning.
  arXiv  Detail & Related papers  (2020-11-09T20:49:54Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.