Platooning in UAM airspace structures: applying trajectory shaping guidance law and exploiting cooperative localization

A novel control technique for the platooning of aerial vehicles is here introduced, and its stability is analyzed. The controller applies a missile guidance law that was initially adapted for path-following and subsequently extended to platooning. The positions of all agents within a platoon employing this controller are estimated by exploiting cooperative localization, and these estimated positions are fed back into the controller. Using simulation, the agents within a platoon are demonstrated to follow their desired path and avoid collision, even in environments with intermittent Global Positioning System signals and limited sensing ranges.