Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology

Kawakami, Hiroki; Namerikawa, Toru

doi:10.1109/acc.2009.5160030

Cited by 67 publications

(52 citation statements)

References 9 publications

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“…In [19], The authors proposed a control algorithm for multiple columnar vehicles to surround a moving columnar object cooperatively without depending on a network structure. This method, however, resulted in fixing the geometric configuration of the vehicles, with respect to a fixed system of coordinates, even when the object moved changing the traveling direction.…”

Section: Introductionmentioning

confidence: 99%

Formation Control of UAVs with a Fourth-Order Flight Dynamics

Kuriki

Namerikawa

2014

SICE Journal of Control, Measurement, and System Integration

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: This paper, studies cooperative control problems with a multi-UAV (Unmanned Aerial Vehicle) system expressed as a fourth-order system using a consensus-based algorithm. How to model a linearized model of UAVs like quadrotors as a fourth-order system is described, and then a formation control algorithm for the fourth-order system is proposed after formulating a problem. The proposed control law is based on a consensus algorithm, and a leader-follower structure is also applied to the control law so that the leader can provide the quadrotors with commands such as their desired states. And then, The study shows that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. Finally, the proposed approach is validated by some simulations.

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Section: Introductionmentioning

confidence: 99%

Formation Control of UAVs with a Fourth-Order Flight Dynamics

Kuriki

Namerikawa

2014

SICE Journal of Control, Measurement, and System Integration

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“…(15). When we apply this control algorithm to achieve the control objective as it is, though every vehicle tends to follow their leader, geometric configuration of the vehicles with respect to a fixed system of coordinates remains fixed as shown in Fig.…”

Section: Proposed Approachmentioning

confidence: 99%

“…(15) was designed for both a cylindrical target object and cylindrical vehicles, that is, directivity was not considered in the algorithm in Ref. (15).…”

Section: Proposed Approachmentioning

confidence: 99%

“…Therefore, based on our algorithm in Ref. (15), and individually providing information such as target positions for each of the followers using a leader-follower structure, we propose a control algorithm to move in formation and also to arbitrarily change the geometric configuration. An outline of this paper is as follows.…”

Section: Introductionmentioning

confidence: 99%

“…We studied a consensus problem of a multi-vehicle system which was expressed as a linear system (14) , and studied a problem with surrounding a moving target object by a group of vehicles cooperatively (15) .…”

Section: Introductionmentioning

confidence: 99%

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Control of Formation Configuration Using Leader-Follower Structure

Kuriki

Namerikawa

2013

JSDD

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In this paper, we study cooperative control problems with trajectory tracking and reconfigurable formation for a multi-vehicle system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled vehicles keep geometric configuration among the multiple vehicles while the vehicles are moving in formation. In other words, each of the vehicles must change its position individually to keep the geometric configuration while the vehicle is moved by a cooperative control. In order to achieve this objective, we basically extend our previous result which was a control algorithm to surround a moving target by a group of vehicles cooperatively. The algorithm was based on a consensus algorithm which was cooperative control. In addition, we apply a leader-follower structure to our cooperative algorithm so that a leader can individually provide each of the followers with commands. Finally, the proposed approach is validated by some simulations.

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Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

Matveev

Ovchinnikov

2018

Intl J Robust & Nonlinear

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An unpredictably maneuvering speedy target travels in a plane, which also hosts a team of fully actuated robots whose velocities and accelerations are upper-bounded in magnitude. The robots should approach the target and then follow it at a prespecified distance. They also should achieve an even self-distribution around the target and a given angular velocity of rotation about the target. Every robot has access to the relative position of the target and other robots (in the latter case, within a finite "visibility" range) and to the angular speed of its own pure rotation; access to the coordinates of its own linear velocity in its own local frame is also employed in some cases. The robots are not equipped with communication facilities and cannot distinguish among one another; assignment of different roles to various robots is infeasible. Necessary conditions for the mission feasibility are first obtained. A distributed control law is then presented, and its global convergence and collision avoidance property are rigorously justified under slight enhancement of the just mentioned necessary conditions. The performance of the control law is illustrated by computer simulations.

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Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology

Cited by 67 publications

References 9 publications

Formation Control of UAVs with a Fourth-Order Flight Dynamics

Formation Control of UAVs with a Fourth-Order Flight Dynamics

Control of Formation Configuration Using Leader-Follower Structure

Circumnavigation of a speedy unpredictable target by a group of speed‐ and acceleration‐limited robots

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