Guaranteed Collision Avoidance in Multivehicle Cooperative Missions Using Speed Adjustment

Tabasso, Camilla; Cichella, Venanzio; Mehdi, Syed Bilal; Marinho, Thiago; Hovakimyan, Naira

doi:10.2514/1.i010788

Cited by 5 publications

(10 citation statements)

References 20 publications

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“…2. The dynamic limits of γ d (t), namelyγ d,max andγ d,max , satisfy the bounds given by Equations (24) and (25).…”

Section: Theoremmentioning

confidence: 85%

“…In the proposed scenario, once a possible collision with a non-cooperative obstacle is detected by mission's leaders (or virtual leaders), these deviate from their nominal trajectory, while the followers, who have no information about the position of the obstacle, are also able to avoid the collision by coordinating with the leaders. Furthermore, we have extended the theoretical results in [24] and provided rigorous performance bounds. It is shown that the coordination and safety guarantees hold even in the presence of communication faults.…”

Section: Introductionmentioning

confidence: 92%

“…However, if this is not true, it can be demonstrated that similar coordination results can be achieved by adding an additional term in Equation (22) in order to take the tracking error into account. We refer the reader to [24], where the problem of coordination in the presence of tracking errors is addressed.…”

Section: Remarkmentioning

confidence: 99%

“…Motivated by these ideas, we build on previous results on time-coordination [26][27][28][29], and propose a Lyapunov-based method to the cooperative collision avoidance problem. This work departs from previous solutions to this problem [22][23][24] by adopting a new time-coordination algorithm for inter-vehicle safety. The main novelty of this method concerns the structure of the control system.…”

Section: Introductionmentioning

confidence: 97%

“…Examples of such scenarios include, but are not limited to, air traffic management, where the direction taken by the aircraft is fixed and the speed can be varied within a feasibility range, and highway driving, where vehicles driving can vary their speeds while remaining in their lane. To address the problem at hand, the research group previously introduced a cooperative control framework for collision avoidance [22][23][24]. With this framework, safety is achieved by decoupling the cooperative collision avoidance problem into a coordination problem [25,26] to ensure inter-vehicle safety, and a collision-avoidance problem [23] to guarantee safety against dynamic obstacles.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

et al. 2021

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In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.

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“…2. The dynamic limits of γ d (t), namelyγ d,max andγ d,max , satisfy the bounds given by Equations (24) and (25).…”

Section: Theoremmentioning

confidence: 85%

Section: Introductionmentioning

confidence: 92%

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

et al. 2021

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Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies

Hyungsoo

Yoon

Cichella

et al. 2021

2021 60th IEEE Conference on Decision and Control (CDC)

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In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over a time-varying network to its neighbors only when a decentralized trigger condition is satisfied, thereby significantly reducing the volume of inter-vehicle communications required when compared with the existing algorithms based on continuous communications. Using such intermittent communications, it is shown that a decentralized coordination controller guarantees exponential convergence of the coordination error to a neighborhood of zero. Also, a lower bound on the interval between two consecutive event-triggered times is provided showing that the chattering issue does not arise with the proposed algorithm. Finally, simulation results validate the efficacy of the proposed algorithm.

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Continuous Monitoring of a Path-Constrained Moving Target by Multiple Unmanned Aerial Vehicles

Tabasso¹,

Kielas-Jensen²,

Cichella³

et al. 2022

Journal of Guidance, Control, and Dynamics

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Guaranteed Collision Avoidance in Multivehicle Cooperative Missions Using Speed Adjustment

Cited by 5 publications

References 20 publications

Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions

Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies

Continuous Monitoring of a Path-Constrained Moving Target by Multiple Unmanned Aerial Vehicles

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