Distributed Localization for UAV–UGV Cooperative Systems Using Information Consensus Filter

Round 1

Reviewer 1 Report

The paper proposes an information consensus filter-based decentralized controller and a control barrier function-control Lyapunov function strategy to improve the safety and efficiency the UAV system. Simulations is performed to demonstrate the effectiveness of the designed control system. The topic is interesting, and I am overall satisfied with this paper. The authors can further improve the paper quality through the following ways:

In the abstract, the authors should succinctly and clearly delineate the role of the Unmanned Ground Vehicle (UGV) within the proposed control framework, providing readers with a comprehensive overview from the outset.

Some existing collaborative operations techniques with challenges have been introduced in the Sec. I. More detailed comparison or analysis highlighting the advantages of the proposed control system relative to these existing methods would greatly enrich the manuscript.

What is the theoretical contribution of proposed methods of ICF and CBF-CLF strategy utilized in this work. If it is limited, you should clearly clarify the novelty of the whole control scheme in Sec. II.

The authors claimed that “simulations in varied real-world scenarios” in abstract. This presentation is strange. I have found that both simulations and experimental tests are carried out in this manuscript.

It is fine.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

This study proposes a distributed localization for UAV-UGV cooperative systems using information consensus filter. This study is written well and can be accepted before the following problems are solved as: (1) The contribution points are not clear, the author needs to summarize and compare them with the current work; (2) The difficulties of the research method need to be emphasized; (3) The selection rules for design parameters need to be provided; (4) State observation is crucial for the accuracy of the system, and the author can discuss an effective state observer to estimate the system state, such as observer-based adaptive fuzzy finite-time attitude control for quadrotor UAVs; (5) Cooperative systems often encounter input saturation issues, which is a worthwhile research topic to ensure system stability. Suggest the author to increase future research directions and refer to work on Antisaturation fixed-time attitude tracking control based low-computation learning for uncertain quadrotor UAVs with external disturbancess; (6) Please explain the equation (28)；(7) Please explain the role of Barrier Function in the design process.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 3 Report

In recent years, unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) have attracted more and more attention of researchers because of their significant potential in various application areas.  In some integrated system, UAVs and UGVs are utilized together to accomplish some task while complementing each other's capabilities. Such joint work increases the efficiency of the whole system.

A decentralized UAV control system based on Information Consensus Filter (ICF) is proposed in the study, the results of which are presented in the reviewed paper.

The basic element in this case is the Control Barrier Function - Control Lyapunov Function (CBF-CLF) strategy aimed at enhancing operational safety and efficiency of the integrated system..

The core of the proposed approach is an ICF-based decentralized control algorithm that allows UAVs to autonomously adjust flight control in real-time based on the data exchange between UAVs.

The effectiveness and robustness of the proposed system is demonstrated through simulation in various real-world scenarios.

The topic related to the organization of interaction between unmanned vehicles, particularly in heterogeneous groupings including UAVs and UGVs, is not entirely new. However, despite the active attention of researchers to this topic in recent decades, there are still a significant number of problems waiting to be solved. The authors of this paper present an approach to solving one of these poorly understood problems. Although the effectiveness of this approach is demonstrated using a relatively simple example, it has the potential to solve more complex problems.

The article is in general adequately structured and presented. This article may be useful to researchers working in the field of controlling unmanned vehicles as well as formations of such vehicles.

The authors may be advised to read the text of the article carefully again and eliminate any inaccuracies. For example, replace the article article `a` with `an` in line 4 (This study introduces an Information Consensus Filter (ICF)-based decentralized control system for UAVs…).

Author Response

Dear Reviewer: 
            Thanks for your reading. We have carefully proofread this paper and corrected all the typos.

Best regards,

Authors: BuQing Ou, Feixiang Liu and Guanchong Niu

Round 2

Reviewer 1 Report

I am satisfied with the revisions of the manuscript. The author has adequately addressed the comments previously raised. Considering the the overall novelty of the proposed control system. I recommend acceptance of this manuscript.

The current manuscript is well-written with minimal grammatical mistakes.