A Binary Tree Based Coordination Scheme for Target Enclosing With Micro Aerial Vehicles

Cooperative target enclosing problem with multiple unmanned microaerial vehicles is addressed. A local controller based on a binary-tree (BT) communication topology is presented for the target enclosing formation. A sufficient condition is derived for the formation stability by a recursive Lyapunov method. In this article, a switching rule of the BT topology is developed to cope with the emergent failures of target sensing and the formation scalabilities. Besides, in order to accommodate the enclosure in complicated environments, a multitask framework is constructed which is compatible with the local control protocols. Comparative experiments on both simulations and platforms demonstrate the effectiveness of the theoretical results.