Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs

Algorithm 2

Generation of the 3D optimal persistent graph in obstructed environment.

Generation of the min-weighted rigid graph in 3D space;

Detection of the environment;

Screening the expected rigid graphs to meet environmental constraints;

Calculate the adjacency matrix A = [a_ij] and the connectivity of each vertex d⁻(i);

Establish the subspaces according to the contour map and the number of UAVs in subspaces is n_i;

Establish the initial directed edge of the leader and any of its followers in the first subspace;

Set the out-degrees of the vertexes of the initial directed edge to 2;

forspace = 1 : subspaces

 fori = 1 : n_i

  ifd⁻(j) = 2, d⁻(k) = 2, and a_ij = a_ik = 1,

   Establish the directed edge V_ij, V_ik and d⁻(k) = 2;

   if for any vertex i, the out-degrees d⁻(i) = 2

   The 3D optimal persistent graph is generated;

   end

  end

 end

end