Related papers: Formation Control for Moving Target Enclosing via …
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
There is increasing demand for control of multi-robot and as well distributing large amounts of content to cluster of Unmanned Aerial Vehicles (UAV) on the operation. In recent years several large-scale accidents have happened. To…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
Optimal deployment and movement of multiple unmanned aerial vehicles (UAVs) is studied. The considered scenario consists of several ground terminals (GTs) communicating with the UAVs using variable transmission power and fixed data rate.…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…
In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predictive control (NMPC). A moving horizon estimator (MHE) is…