## Autonomous Formation Control on Non-Convex Closed Shapes

### Midshipman Researcher(s): 1/C Nate Hersom

### Adviser(s): Assoc. Professor Levi DeVries

### Poster #95

Most Ground Control Station (GCS) mission planners provide users simple waypoints and elementary shapes (squares, circles) for autonomous
missions. This is insufficient for non-convex shapes that may contain hundreds of points. This project simplifies mission design by allowing
users to draw specific trajectories for autonomous vehicles. We reconstruct the user shape with a finite number of Fourier descriptor coefficients.
The coefficients define the trajectory of a relative reference frame; traversing a circle in the relative frame produces the desired inertial
frame trajectory. We use Lyapunov Guidance Vector Field control to steer vehicles to the required circle in the relative frame.

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