Coordinated Landing Control for Cross-Domain UAV-USV Fleets Using Heterogeneous-Feature Matching

Coordinated landing control for multiple un- manned aerial vehicles (UAVs) on appropriate multiple un- manned surface vehicles (USVs) is an urgent yet challenging mission with the tremendous development of modern marine industry. To this end, we propose a coordinated multiple UAV-USV landing control algorithm via heterogeneous-feature matching. Specifically, the heterogeneous landing features of different UAVs and USVs are extracted to establish a dynamic UAV-USV cooperative landing ability mapping for the cross- domain UAV-USV fleets (CDUUFs). Then, by incorporating suitable allocation with UAV-USV landing convergence and collision avoidance among UAVs into constraints with the assistance of both control Lyapunov functions (CLFs) and con- trol barrier functions (CBFs), the multiple UAV-USV landing control problem is formulated as a constraint-based optimiza- tion one. Therein, slack variables are introduced to fulfill the assignment and facilitate the searching of a balanced solution between control performance and landing safety. Finally, exten- sive simulations are conducted to substantiate the effectiveness of the present multiple UAV-USV landing control law.