{'fraction_non_alphanumeric': 0.02546296296296296, 'fraction_numerical': 0.0, 'mean_word_length': 5.503759398496241, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.