Network topology design for UAV swarming with wind gusts

Abstract

The cornerstone of effective topology design for networked systems is the appreciation of the interplay between system performance and network structure. In this paper, we examine the problem of Unmanned Aerial Vehicle (UAV) swarming in the presence of wind gusts. Firstly, we model an altitude consensus-based leader-follower model exposed to gust disturbances. We then proceed to examine system-theoretic and topological features that promote network disturbance rejection. Specifically the open loop H2 norm of the system is selected as a performance metric. Its topological features are highlighted via a realization of the open loop H2 norm in terms the effective resistance of the corresponding..