多无人机编队飞行时，确保领航机始终在跟随机视野内。
Distributed 3D Leader-Follower Formation Control with Field-of-View Safety via Control Barrier Functions
- 基于视线坐标系设计分布式编队控制器，仅用局部信息实现3D编队跟踪。
- 通过安全滤波器实时调整速度，使领航机始终在跟随机摄像头视野内。
- 硬件实验验证有效，尤其在编队指令与视觉约束冲突时仍能保安全。
本文提出一种用于多无人机系统的分布式3D领航-跟随编队（3D-LFF）控制框架，实现编队跟踪的同时强制执行感知安全约束。由于机载摄像头存在严格的视场（FOV）限制，且复杂的编队指令可能导致领航机移出跟随机的相机视锥范围，从而造成失联。为解决此问题，我们构建了一种感知意识的安全控制架构，通过构造保证可见性。首先，在视线坐标系下建立相对运动模型，并设计仅依赖本地相对状态的分布式3D-LFF跟踪控制器；其次，将标准编队控制器嵌入基于控制屏障函数的二次规划（CBF-QP）安全滤波器中，最小化对命令速度的修改，以确保领航机始终位于跟随机的摄像头视锥内，同时尽可能维持编队跟踪。Gazebo仿真和Crazyflie硬件实验验证了该方法的有效性，展示了精确的编队跟踪和可靠的视场约束执行能力，包括当理想编队指令与视觉约束冲突的情况。
原文摘要 · Abstract (English)
This letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety constraints. Maintaining safe, vision-based 3D-LFF is challenging because onboard cameras impose strict Field-of-View (FOV) limitations, and demanding formation commands can drive the leader outside the follower's camera frustum, resulting in loss of visibility. To address this issue, we develop a perception-aware safe control architecture that guarantees visibility by construction. First, we derive a relative kinematic model in a line-of-sight coordinate representation and design a distributed 3D-LFF tracking controller using only locally available relative states. Next, we embed the nominal formation controller within a Control Barrier Function-based Quadratic Program (CBF-QP) safety filter that minimally modifies the commanded velocities to maintain the leader inside the follower's camera frustum while preserving formation tracking whenever feasible. Gazebo simulations and Crazyflie hardware experiments validate the proposed approach, demonstrating accurate formation tracking and effective FOV enforcement, including scenarios in which the nominal desired formation conflicts with visibility constraints.
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