Related papers: Privacy-Preserving Formation Control for Networked…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
In the recent years, we have observed three significant trends in control systems: a renewed interest in data-driven control design, the abundance of cloud computational services and the importance of preserving privacy for the system under…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
Collection of user's location and trajectory information that contains rich personal privacy in mobile social networks has become easier for attackers. Network traffic control is an important network system which can solve some security and…
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of…