Navigation data exchange between UAVs in the formation by means of the adaptive coding procedure

  • Stanislav Tomashevich
  • Boris Andrievsky
  • Alexandra N. Dokuchaeva
  • Valentin Yu. Emelyanov


The article discusses the coordinated flight of an autonomously controlled group of drones (quadrocopters). The system organizes the exchange of location information between individual agents of the group in order to maintain the formation shape and execution of a given flight mission. Discusses the quality of data transmission, as one of the most important navigation problems. In the case where a wide bandwidth for transmitting navigation data cannot be provided, an adaptive coding procedure based on adaptive tuning of the quantization range and using the embedded observer is implemented. In addition, due to the lack of continuity of the GNSS navigation, a reduction in position estimation errors is an important issue. The proposed adaptive coding procedure can be used to provide the necessary data rate near the minimum possible boundary. The application of the proposed adaptive binary coder for the transfer of navigation data between quadrocopters in the formation has been studied in detail. Results of the statistical evaluation of the formation behavior for the case of random initial positions of the leader are provided. The simulation results demonstrate the high efficiency of the proposed formation control method with adaptive coding for exchange of navigation data.