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Vol en formation sans formation: contrôle et planification pour le vol en formation des avions sans pilote

Abstract : This thesis presents the study and the implementation of a system that manages autonomously the configuration of a formation of unmanned aerial vehicles, or UAVs. The purposes are to improve the safety and the efficiency of a group of military UAVs, and to fill the gap between mission planning layers and formation control layers. Formation flight is particularly suited for military applications in hostile environments, that require synchronizations on target arrivals or mutual support for jamming. One of the difficulties raised is the autonomous choice of the configuration. Our approach is to develop an intermediate layer, dedicated to the formation and to the management of its configuration, between the deliberative and functionnal layers. Once a configuration is specified, it has to be allocated to the UAVs according to the tactical constraints and the available ressources. As the safety of the flight is a prime issue, reconfiguration maneuvers are planned to switch between two configurations, with respect to a security distance. Solutions have been developed based on the Branch & Bound algorithm to solve the assigment problems, and on the A* algorithm for reconfiguration trajectories planning. Moreover, a formation control has been implemented, allowing to validate our approach, both with simulations and real experimentations.
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Submitted on : Friday, January 16, 2009 - 10:01:46 AM
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  • HAL Id : tel-00353676, version 1


Gautier Hattenberger. Vol en formation sans formation: contrôle et planification pour le vol en formation des avions sans pilote. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2008. Français. ⟨tel-00353676⟩



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