Formation control with collision avoidance

Bencatel, Ricardo; Faied, Mariam; Sousa, João Borges de; Girard, Anouck

doi:10.1109/cdc.2011.6160637

Cited by 16 publications

(8 citation statements)

References 14 publications

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“…This capability is increasingly important as the UAVs are proliferating and its use is increasingly growing not only in military as well as civilian applications [11].…”

Section: Sense and Avoidmentioning

confidence: 99%

Unmanned aircraft systems in maritime operations: Challenges addressed in the scope of the SEAGULL project

Marques

Dias

Santos

et al. 2015

OCEANS 2015 - Genova

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The SEAGULL project aims at the development of intelligent systems to support maritime situation awareness based on unmanned aerial vehicles. It proposes to create an intelligent maritime surveillance system by equipping unmanned aerial vehicles (UAVs) with different types of optical sensors. Optical sensors such as cameras (visible, infrared, multi and hyper spectral) can contribute significantly to the generation of situational awareness of maritime events such as (i) detection and georeferencing of oil spills or hazardous and noxious substances; (ii) tracking systems (e.g. vessels, shipwrecked, lifeboat, debris, etc.); (iii) recognizing behavioral patterns (e.g. vessels rendezvous, high-speed vessels, atypical patterns of navigation, etc.); and (iv) monitoring parameters and indicators of good environmental status. On-board transponders will be used for collision detection and avoidance mechanism (sense and avoid). This paper describes the core of the research and development work done during the first 2 years of the project with particular emphasis on the following topics: system architecture, automatic detection of sea vessels by vision sensors and custom designed computer vision algorithms; and a sense and avoid system developed in the theoretical framework of zero-sum differential games.

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“…This capability is increasingly important as the UAVs are proliferating and its use is increasingly growing not only in military as well as civilian applications [11].…”

Section: Sense and Avoidmentioning

confidence: 99%

Unmanned aircraft systems in maritime operations: Challenges addressed in the scope of the SEAGULL project

Marques

Dias

Santos

et al. 2015

OCEANS 2015 - Genova

View full text Add to dashboard Cite

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“…Recently, set-theoretic and optimization tools are employed to design the control of MAS subject to anti-collision constraints, notable [6], [7], [8], [9] and [10]. In these works, the constraints are described such that the sets characterizing each agent/obstacle do not overlap.…”

Section: Introductionmentioning

confidence: 99%

“…Other works on formation control are based on keeping a distance between the agents, e.g. sliding mode control [9] and model predictive control [7]. The recent work [10] proposes a set-theoretic method based on a decentralized control strategy.…”

Section: Introductionmentioning

confidence: 99%

Decentralized constructive collision avoidance for multi-agent dynamical systems

Nguyen

Maniu

Olaru

2016

2016 European Control Conference (ECC)

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This paper describes the principles of a decentralized framework for the guaranteed collision avoidance of Multi-Agent dynamical systems sharing a common working space. The results are constructive and can be effective in the certification of mission safety. The geometric aspects of the collision avoidance problem are exploited to define the control policies. The main contributions are related to the optimizationbased decentralized feedback control which renders a so-called functioning zone controlled invariant. An illustrative example is analyzed in order to highlight the effectiveness of the proposed approaches.

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“…There exist various techniques for the real-time control of UAVs. Usually lowcomplexity (and robust) control methods are preferred such as, sliding mode control (Bencatel et al, 2011), dynamic programming approach for motion control of autonomous vehicles (Silva et al, 2007) or control strategies that first estimate the speed and heading of the vehicles and then use simple feedback control laws for stabilizing different measurement error (Soares et al, 2012). In comparison to these solutions we will show that the presented MPC approach, meets the real-time computational constraints even if it presents a relatively important real-time computational load.…”

Section: Introductionmentioning

confidence: 99%

Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

Prodan

Olaru

Bencatel

et al. 2013

Control Engineering Practice

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International audienceThis paper addresses the implementation of a predictive control strategy for Unmanned Air Vehicles in the presence of bounded disturbances. The goal is to prove the feasibility of such a real-time optimization-based control design and to demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory which is pre-specified via differential flatness. In order to benefit from the computational advantages of the linear predictive control formulations, an off-line linearization strategy of the nonlinear model of the vehicle along the flat trajectory is employed. The proposed method exhibits effective performance validated through software-in-the-loop simulations and real flight tests on different Unmanned Aerial Vehicles (UAVs)

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Formation control with collision avoidance

Cited by 16 publications

References 14 publications

Unmanned aircraft systems in maritime operations: Challenges addressed in the scope of the SEAGULL project

Unmanned aircraft systems in maritime operations: Challenges addressed in the scope of the SEAGULL project

Decentralized constructive collision avoidance for multi-agent dynamical systems

Receding horizon flight control for trajectory tracking of autonomous aerial vehicles

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