Related papers: Efficient Communication Leader-Wingman Flight Form…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
In future autonomous systems, wireless multi-hop communication is key to enable collaboration among distributed agents at low cost and high flexibility. When many agents need to transmit information over the same wireless network,…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
Ensuring the stability of wireless networked control systems (WNCS) with nonlinear and control-non-affine dynamics, where system behavior is nonlinear with respect to both states and control decisions, poses a significant challenge,…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
To enable communication-efficient federated learning (FL), this paper studies an unmanned aerial vehicle (UAV)-enabled FL system, where the UAV coordinates distributed ground devices for a shared model training. Specifically, by exploiting…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but…
A well-designed control system facilitates the functions of machine operation, maintenance and development. In addition, the overall effectiveness of the control system can be greatly enhanced by providing reliable mechanisms for…
In this article, the formation mission design problem for commercial aircraft is studied. Given the departure times and the departure and arrival locations of several commercial flights, the relevant weather forecast, and the expected fuel…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
Autonomous flight for UAVs relies on visual information for avoiding obstacles and ensuring a safe collision-free flight. In addition to visual clues, safe UAVs often need connectivity with the ground station. In this paper, we study the…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
The efficient exchange of information is an essential aspect of intelligent collective behavior. Event-triggered control and estimation achieve some efficiency by replacing continuous data exchange between agents with intermittent, or…