Distributed Trajectory optimization Method for Multi-UAV Formation Rendezvous over Directed Networks

This paper proposes a distributed trajectory optimization method for multiple unmanned aerial vehicles' (UAVs) formation rendezvous problems. A trajectory optimization problem that minimizes the energy consumption and requires simultaneous rendezvous is established. To solve this problem distributedly, it is decoupled into a master problem and several subproblems. Each UAV solves the subproblem independently, and UAVs cooperate over directed networks to optimize the master problem using a proposed distributed subgradient algorithm. Furthermore, the convergence analysis of the proposed distributed subgradient algorithm over directed graphs is provided. Finally, simulation result shows the effectiveness of the distributed trajectory optimization method.