相关论文: Bounded Distance-control for Multi-UAV Formation S…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
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…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
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 studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of their neighbor agents. The target formation considered in…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…