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formationInfo

UAV formation graph and inter-UAV distance

Since R2024b

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    Syntax

    info = formationInfo(trajectoryEnsemble)

    Description

    info = formationInfo(trajectoryEnsemble) returns a timetable of inter-UAV distance, formation graph, and positions of a UAV trajectory ensemble object.

    example

    Examples

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    Open Live Script

    Specify the number of UAVs in a UAV formation, and create the timestamps for the UAV trajectories.

    % Number of UAVs in the formation
numUAV = 4;

% Timestamps
time = [0; 1];

    Specify the position of each UAV in ENU frame in meters at 0 and 1 seconds

    uav1_position = [1 0 10;
                1 0 10.5];
uav2_position = [0.5 0.8 10;
                0.5 1.8 11];
uav3_position = [1.5 1 10;
                1.5 1.8 11];
uav4_position = [2 0 10;
                1.5 0 10.5];

    Specify the velocity of each UAV in ENU frame in m/s at 0 and 1 seconds

    uav1_velocity = [0 0 0.5; 
                1 0 0];
uav2_velocity = [0 1 1;
                1 0 0];
uav3_velocity = [0 1 1;
                1 0 0];
uav4_velocity = [0 0 0.5;
                1 0 0];

    Store the trajectory of each UAV in a timetable, and store the timetables in a cell array.

    trajData1=timetable(seconds(time),uav1_position,uav1_velocity,VariableNames={'Position','Velocity'});
trajData2=timetable(seconds(time),uav2_position,uav2_velocity,VariableNames={'Position','Velocity'});
trajData3=timetable(seconds(time),uav3_position,uav3_velocity,VariableNames={'Position','Velocity'});
trajData4=timetable(seconds(time),uav4_position,uav4_velocity,VariableNames={'Position','Velocity'});

    Create a UAV trajectory ensemble object. Specify the safety radius as 0.25 meters, a maximum connectivity range of 1.5 meters, and a maximum number of neighbors of 5.

    trajectoryEnsemble = uavFormationMetrics({trajData1,trajData2,trajData3,trajData4},SafetyRadius=0.25,ConnectivityRange=1.5,...
    MaxNumNeighbors=5);

    Obtain the perfomance and distance metrics of the UAV formation.

    [perfMetrics,distMetrics] = metrics(trajectoryEnsemble);

    Plot the formation performance metrics

    stackedplot(perfMetrics)
grid on
title("Formation Performance Metrics")

    Figure contains an object of type stackedplot. The chart of type stackedplot has title Formation Performance Metrics.

    Plot the distance performance metrics

    stackedplot(distMetrics)
grid on
title("Distance Metrics")

    Figure contains an object of type stackedplot. The chart of type stackedplot has title Distance Metrics.

    Obtain the UAV formation information.

    info = formationInfo(trajectoryEnsemble);

    Plot the UAV formation at the initial time step

    % Create edge label for UAV distance at 0 seconds
edgeLabel0 = info.FormationGraph{1}.Edges.Weight;

% Plot the formation at 0 seconds
plot(info.FormationGraph{1},EdgeLabel=edgeLabel0, ...
    XData=info.PositionX(1,:),YData=info.PositionY(1,:), ...
    ZData=info.PositionZ(1,:));

% Add title labels to each axis
title("UAV Formation at t = 0 seconds")
xlabel("East")
ylabel("North")
zlabel("Up")

    Figure contains an axes object. The axes object with title UAV Formation at t = 0 seconds, xlabel East, ylabel North contains an object of type graphplot.

    Plot the UAV formation after movement at t = 1 second. In this time, some UAVs are out of the connectivity range and form 2 connected subgroups.

    % Create edge label for UAV distance at 1 second
edgeLabel1 = info.FormationGraph{2}.Edges.Weight;

% Plot the formation at 1 second
plot(info.FormationGraph{2},EdgeLabel=edgeLabel1, ...
    XData=info.PositionX(2,:),YData=info.PositionY(1,:), ...
    ZData=info.PositionZ(2,:)); 

% Add labels to each axis
title("UAV Formation at t = 1 second")
xlabel("East")
ylabel("North")
zlabel("Up")

    Figure contains an axes object. The axes object with title UAV Formation at t = 1 second, xlabel East, ylabel North contains an object of type graphplot.

    Obtain the inter-UAV distance for all UAV pairs in the formation at t = 1 second.

    info.InterUAVDistance{2}
    ans=6×2 table
    UAVPair    Distance
    _______    ________

    1    2      1.9339 
    1    3      1.9339 
    1    4         0.5 
    2    3           1 
    2    4       2.119 
    3    4      1.8682

    Input Arguments

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    UAV trajectory ensemble, specified as a uavFormationMetrics object.

    Output Arguments

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    Details of UAV trajectory ensemble object, returned as a timetable. Each row of the timetable contains the following variables:

    • InterUAVDistance — Distance between UAVs in meters, returned as a M-by-2 table, where M represents the total number of combinations of 2 UAVs that can be formed from all N UAVs in the formation, given by :

      M=N!2!(N−2)!

    • FormationGraph — Directed graph of UAV formation, returned as a digraph object.

      In the directed graph, each directed edge represents a connection between pairs of UAVs, with the arrow starting from one UAV and pointing towards its neighboring UAV.

    • PositionX — X position of all N UAV in the formation in meters, returned as N element array of real number

    • PositionY — Y position of all N UAV in the formation in meters, returned as N element array of real number

    • PositionZ — Z position of all N UAV in the formation in meters, returned as N element array of real number

    Version History

    Introduced in R2024b

    See Also

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