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— This work focuses on enabling multiple UAVs to flock together in order to distribute and collectively perform a given sensing task. Flocking is performed in a leader-follower fashion, and the leader is assumed to already have an effective control policy for the particular task. The UAVs are small fixed-wing aircraft cruising at a constant speed and fixed(More)
We address the problem of estimating the state of a multi-agent system based on measurements corrupted by impulsive noise and whose dynamics are subject to impulsive disturbances. The qualifier " impulsive " refers to the fact that noise and disturbances are relatively small most of the time, but occasionally take large values. Noise and disturbances are(More)
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