Aperiodic Communication for MPC in Autonomous Cooperative Landing

This paper investigates the rendezvous problem for autonomous cooperative landing of an unmanned aerial vehicle (UAV) on surface (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled but share a common task. The underlying control scheme is based distributed Model Predictive Control (MPC). main contribution algorithm online update rule location. only requires agents to exchange information when they can not guarantee rendezvous. Hence, occurs aperiodically, which reduces necessary communication between agents. Furthermore, we prove that guarantees recursive feasibility. simulation results illustrate effectiveness proposed applied landing.