An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles

Aspragkathos, Sotirios N.; Sinani, Mario; Karras, George C.; Panetsos, Fotis; Kyriakopoulos, Kostas J.

doi:10.1109/iros47612.2022.9981176

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

DOI: 10.1109/iros47612.2022.9981176

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An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles

Sotirios N. Aspragkathos

Mario Sinani

George C. Karras

et al.

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2024

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Cited by 2 publications

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Event‐triggered asynchronous distributed MPC for multi‐quadrotor systems with communication delays

Shu,

Liu,

et al. 2024

Intl J Robust & Nonlinear

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This article investigates the formation composition and keeping problem for multi‐quadrotor systems under time‐varying communication delays. First, a distributed model predictive control (MPC) approach is employed to transform the formation composition and keeping of multi‐quadrotor systems into an online rolling optimization issue, accompanied by the event‐triggered mechanism to reduce solution frequency and communication load. Second, to address the asynchrony and time‐varying communication delays introduced by event‐triggered distributed MPC, a set of constraints is designed to restrict deviations between the current predictive state and previously broadcasted states. Consequently, based on the previously predicted states of neighbors, the cooperation of the multi‐quadrotor systems is achieved under asynchronous communication and time‐varying delays. This approach guarantees robust asymptotic stability and satisfactory formation performance for multi‐quadrotor systems under various delay scenarios. Finally, the numerical and software‐in‐the‐loop simulations validate the effectiveness of the proposed algorithm of multi‐quadrotors under communication delays.

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Event‐triggered asynchronous distributed MPC for multi‐quadrotor systems with communication delays

Shu,

Liu,

et al. 2024

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

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Event-Triggered Image Moments Predictive Control for Tracking Evolving Features Using UAVs

Aspragkathos,

Karras,

Kyriakopoulos

2024

IEEE Robot. Autom. Lett.

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An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles

Cited by 2 publications

References 18 publications

Event‐triggered asynchronous distributed MPC for multi‐quadrotor systems with communication delays

Event‐triggered asynchronous distributed MPC for multi‐quadrotor systems with communication delays

Event-Triggered Image Moments Predictive Control for Tracking Evolving Features Using UAVs

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