相关论文: Dynamic Control Allocation between Onboard and Del…

This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…

Modern aircraft are designed with redundant control effectors to cater for fault tolerance and maneuverability requirements. This leads to aircraft being over-actuated and requires control allocation schemes to distribute the control…

Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…

The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…

This paper explores the application of Artificial Intelligence (AI) techniques for generating the trajectories of fleets of Unmanned Aerial Vehicles (UAVs). The two main challenges addressed include accurately predicting the paths of UAVs…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…

Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths…

Nowadays, mutual interference among automotive radars has become a problem of wide concern. In this paper, a decentralized spectrum allocation approach is presented to avoid mutual interference among automotive radars. Although…

Unmanned Aerial Systems (UAS) are being increasingly deployed for commercial, civilian, and military applications. The current UAS state-of-the-art still depends on a remote human controller with robust wireless links to perform several of…

Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…

With a growing complexity of the intelligent traffic system (ITS), an integrated control of ITS that is capable of considering plentiful heterogeneous intelligent agents is desired. However, existing control methods based on the centralized…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…

In order to drive safely and efficiently under merging scenarios, autonomous vehicles should be aware of their surroundings and make decisions by interacting with other road participants. Moreover, different strategies should be made when…

Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…

This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…

This paper focuses on the control of collective dynamics in large-scale multi-agent systems (MAS) operating in a 3-D space, with a specific emphasis on compensating for the influence of an unknown delay affecting the actuated leaders. The…

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…

Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…