分散式無人機群隊形協調是一個具有挑戰的研究方向。由於缺乏長機(隊長)規劃隊形及發布命令，各無人機需要靠自己的決策以控制隊形。然而無人機在軍事用途中，需要動態且即時應對戰場危險，此時較小的隊形規劃計算成本顯得非常重要。我們針對這問題提出一種彈性的隊形協調策略，使無人機群如同鳥和魚群，在行進過程沒有固定的隊形卻能保持緊湊的相對位置而不相撞。即使有隊友在飛行過程中加入或者在途中被擊落，無人機群仍然能在任何地圖中繼續保持隊形完成任務。

Formation coordination for distributed Unmanned Ariel Vehicle (UAV) has been a challenging topic. Without a leader that computes the formation for other teammates, each UAV needs to make its own decision to form the formation. However, in a battlefield environment, UAVs are required to react dynamically and immediately, and therefore less computing cost of formation planning is essential. Consequently, we propose a flexible formation coordination scheme for such a problem. Similar to a flock of birds or a school of fish, they move without a specific formation, maintaining the compactness of the relative position among each other without collision. Despite other teammates join the team or crush while flying, UAVs can still keep the formation and complete the mission. The UAVs with the proposed distributed formation path planning algorithms can accomplish the tasks satisfactorily and flexibly.

摘要 i
Abstract ii
List of Figures v
List of Tables vi
List of Algorithms vii
1 Introduction...1
2 Related Work...5
3 Methodology...8
3.1 Model Formulation...8
3.2 Consensus Scoring System...10
3.3 Distributed Path Planning Algorithm...12
4 Experiments and Results...17
4.1 Validation of The Scoring System...18
4.2 Validation of Comprehensive Performance...20
4.2.1 Multiple Obstacles Avoidance...20
4.2.2 Passing Through a Narrow Passage...21
4.2.3 Maze-like Environment...23
5 Conclusion and Future Work...25
References...27

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