相关论文: Practical Distributed Control for Cooperative Mult…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
Fighting wildfires is a precarious task, imperiling the lives of engaging firefighters and those who reside in the fire's path. Firefighters need online and dynamic observation of the firefront to anticipate a wildfire's unknown…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
The recent progress in unmanned aerial vehicles (UAV) technology has significantly advanced UAV-based applications for military, civil, and commercial domains. Nevertheless, the challenges of establishing high-speed communication links,…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
The issues in air traffic control have so far been addressed with the intent to improve resource utilization and achieve an optimized solution with respect to fuel comsumption of aircrafts, efficient usage of the available airspace with…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
Teams of Unmanned Aerial Vehicles (UAVs) form typical networked cyber-physical systems that involve the interaction of discrete logic and continuous dynamics. This paper presents a hybrid supervisory control framework for the…