Autonomous Coordination of Aircraft Formations Using Direct and Nearest-Neighbor Approaches

Silverberg, Larry; Levedahl, Blaine

doi:10.2514/1.6868

Cited by 4 publications

(2 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In extreme cases timing can be corrected by placing vehicles in holding patterns, and is scalable to high-order AUAS when route segments are sufficiently long. Other remedies, like route adjustment [9], become a last resort.…”

Section: Deconflictionmentioning

confidence: 99%

Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

Bieber

2014

IIM

View full text Add to dashboard Cite

This paper is the first in a two-part series that introduces an easy-to-implement central command architecture for high-order autonomous unmanned aerial systems. This paper discusses the development and the second paper presents the flight test results. As shown in this paper, the central command architecture consists of a central command block, an autonomous planning block, and an autonomous flight controls block. The central command block includes a staging process that converts an objective into tasks independent of the vehicle (agent). The autonomous planning block contains a non-iterative sequence of algorithms that govern routing, vehicle assignment, and deconfliction. The autonomous flight controls block employs modern controls principles, dividing the control input into a guidance part and a regulation part. A novel feature of high-order central command, as this paper shows, is the elimination of operator-directed vehicle tasking and the manner in which deconfliction is treated. A detailed example illustrates different features of the architecture.

show abstract

Section: Deconflictionmentioning

confidence: 99%

Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

Bieber

2014

IIM

View full text Add to dashboard Cite

show abstract

“…Due to the mentioned difficulties, only few results on cooperative control of multiple aircraft are available. In [51], direct coordination (using inertial measurements) and nearest-neighbor coordination (using relative measurements) were addressed. In [52], a sliding mode formation controller was proposed using the leader-follower approach.…”

Section: Related Workmentioning

confidence: 99%

Bounded Coordination Control of Second-order Dynamic Agents

Duc¹

2013

Adv Robot Autom

View full text Add to dashboard Cite

This paper presents a constructive design of distributed and bounded coordination controllers that force mobile agents with second-order dynamics to track desired trajectories and to avoid collision between them. The control design is based on the new bounded control design technique for second-order systems, and new pairwise collision avoidance functions. The pair wise collision functions are functions of both the relative position and velocity of the agents instead of only the relative position as in the literature. Desired features of the proposed control design include: 1) Boundedness of the control inputs by a predefined bound despite collision avoidance between the agents considered, 2) No collision between any agents, 3) Asymptotical stability of desired equilibrium set, and 4) Instability of all other undesired critical sets of the closed loop system. The proposed control design is then applied to design a coordination control system for a group of vertical takeoff and landing (VTOL) aircraft.

show abstract

Control of Underwater Vehicles in Full Unsteady Flow

Levedahl

Silverberg

2009

IEEE J. Oceanic Eng.

View full text Add to dashboard Cite

Autonomous Coordination of Aircraft Formations Using Direct and Nearest-Neighbor Approaches

Cited by 4 publications

References 20 publications

Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

Bounded Coordination Control of Second-order Dynamic Agents

Control of Underwater Vehicles in Full Unsteady Flow

Contact Info

Product

Resources

About