相关论文: Formation Path Following Control of Underactuated …

This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…

Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…

Due to the rapid development technologies for small unmanned aircraft systems (sUAS), the supply and demand market for sUAS is expanding globally. With the great number of sUAS ready to fly in civilian airspace, an sUAS aircraft traffic…

We consider the global approximate controllability of the two-dimensional incompressible Navier-Stokes system driven by a physically localized and degenerate force. In other words, the fluid is regulated via four scalar controls that depend…

In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…

This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…

This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…

In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the…

We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…

This paper proposes a physics-inspired solution for low altitude Unmanned Aircraft System (UAS) Traffic Management (UTM) in urban areas. We decompose UTM into spatial and temporal planning problems. For the spatial planning problem, we use…

For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…

This paper presents the TransBoat, a novel omnidirectional unmanned surface vehicle (USV) with a magnetbased docking system for overwater construction with wave disturbances. This is the first such USV that can build overwater structures by…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

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…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…

In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…