The image-based visual servoing (IBVS) formation control problem for quadrotors in global navigation satellite system (GNSS)-denied and communication-degraded environments is addressed via reinforcement learning (RL) algorithms. A robust leader-follower formation control method is proposed to achieve formation control, and the follower quadrotors track the leader feature using the virtual camera technique and sphere-based image moments. In order to overcome the absence of intervehicle communication, a leader observer is developed to estimate the state of the leader quadrotor. For the leader-follower IBVS dynamics involving unknown uncertainties and external disturbances, robust visual servoing and attitude control laws are proposed using off-policy RL algorithms without relying on precise dynamical models. The effectiveness of the proposed control scheme is validated through both theoretical analysis and case study results.
Yi et al. (Thu,) studied this question.