Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

Abstract

Abstract-This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory.

Formation control driven by cooperative object tracking

“…The weights for each term in (1) were the same as in the simulations. Table 4 shows the final determinant value of the target fused position covariance matrix after minimization.…”

“…Most of the past and current work on motion coordination of multiple (possibly heterogeneous) vehicles [1,2] focuses on controlling a vehicle formation with a given nominal geometry and a pre-determined trajectory or a static destination location, in some cases more [3] or less [4] compliant with the presence of obstacles on the formation trajectory. Such methods typically:…”

A Conceptual Framework and a Review of Conflict Sensing, Detection, Awareness and Escape Maneuvering Methods for UAVs

“…Some of the research addressing this type can be found in (Lapp & Singh, 2004;Boivin et al, 2008). Most of the research done in this field based on decentralized CAS architecture (Borrelli et al, 2004;Lalish & Morgansen, 2008;Keviczky et al, 2008;Roozbehani et al, 2009;Sislak et al, 2011). This is a critical requirement for autonomous UAVs.…”

Automatic approach to stabilization and control for multi robot teams by multilayer network operator

“…Such constraints should be considered separatly or included into quality criteria. Collision avoidance problem can be solved by the method of receding horizon [6] when the moves of robots are computed ahead and the moments of possible collisions are detected. If the robot is going to face a static obstacle then the trajectory of movement is adjusted.…”