Cohesive motion control of autonomous formations in three dimensions

Bayezit, İsmail; Amini, Mehdi M.; Fi̇dan, Barış; Shames, Iman

doi:10.1109/issnip.2010.5706771

Cited by 2 publications

(2 citation statements)

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“…1 In the corresponding studies, the system of interest is a collection of autonomous vehicles, cooperating with each other to perform a collective task. A particular problem of interest for such systems is to keep the shape of the agent collection (swarm) constant in the course of moving this swarm.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Cohesive Motion Control of Flight Vehicle Formations

Bayezit

Fi̇dan

2013

IEEE Trans. Ind. Electron.

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178

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In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting and, during this motion, maintain its formation geometry defined by the initial distances between the agent pairs. We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching. The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic and dynamic models of fixed-wing autonomous aerial vehicles and quadrotors is discussed. In this context, we examine the maintenance of geometric formation of a swarm of autonomous flight vehicles. The developed coordination and control schemes are verified via a number of simulations.

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Section: Introductionmentioning

confidence: 99%

“…We design our base distributed control scheme assuming a single-velocity-integrator kinematic agent model and then extend this design to be applicable for 1 Preliminary studies motivating this work have been reported in [1]- [3]. more practical 3-D kinematics and dynamics of fixed-wing aerial and quadrotor vehicles [12]- [15].…”

Section: Introductionmentioning

confidence: 99%