mca 23(3): e3

Research Article

Formation control of multiple unmanned vehicles based on graph theory: A Comprehensive Review

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  • @ARTICLE{10.4108/eetmca.v7i3.2416,
        author={Hai Do and Hoa Nguyen and Cuong Nguyen and Mui Nguyen and Minh Nguyen},
        title={Formation control of multiple unmanned vehicles based on graph theory: A Comprehensive Review},
        journal={EAI Endorsed Transactions on Mobile Communications and Applications},
        volume={7},
        number={3},
        publisher={EAI},
        journal_a={MCA},
        year={2022},
        month={12},
        keywords={Graph theory, Rigid graph theory, Formation control, Multiple unmanned vehicles, Formation stability},
        doi={10.4108/eetmca.v7i3.2416}
    }
    
  • Hai Do
    Hoa Nguyen
    Cuong Nguyen
    Mui Nguyen
    Minh Nguyen
    Year: 2022
    Formation control of multiple unmanned vehicles based on graph theory: A Comprehensive Review
    MCA
    EAI
    DOI: 10.4108/eetmca.v7i3.2416
Hai Do1, Hoa Nguyen1, Cuong Nguyen2, Mui Nguyen1, Minh Nguyen1,*
  • 1: Thai Nguyen University of Technology, Thai Nguyen, Viet Nam
  • 2: Thai Nguyen University of Information and Technology, Thai Nguyen, Viet Nam
*Contact email: nguyentuanminh@tnut.edu.vn

Abstract

In recent years, formation control for multiple unmanned vehicles becomes an active research topic that has received a lot of attention from scientists due to its superior advantages compared with other conventional systems. Algebraic graph and graph rigidity theories are the two main mathematical backgrounds of the formation control theory. The graph theory is used to describe the interconnections among vehicles in formation while rigid graph theory - an important subset of graph theory - ensured that the inter-vehicle distance constraints of the desired formation are enforced via the graph rigidity. This paper provides a comprehensive review of graph theory supporting formation control for groups of unmanned aerial vehicles (UAV) or swarm UAVs. The background of the theory and the recent developments of graph-theory-based formation control are reviewed. We provide a cohesive overview of the formation control and coordination of multiple vehicles. Finally, some challenges and future potential directions in formation control are discussed.