Modeling and control of heterogeneous field robots under partial observation

Ju, Chanyoung; Son, Hyoung Il

doi:10.1016/j.ins.2021.08.071

Cited by 6 publications

(1 citation statement)

References 35 publications

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“…32 In the work by Lopes et al, 33 an SCT-based controller was proposed for swarm UAVs, and the performance of the proposed controller was verified through an experiment clustering a group of UAVs based on open-source software. In the work by Ju and Son, 34 the authors proposed a hybrid system that combined a continuous-time system and DES for large-scale dynamic systems, such as field UAVs. Their research expanded on a previous study 35,36 by considering partial observation caused by the inability to monitor events using sensors because of noise, disturbances, and failure.…”

Section: Related Workmentioning

confidence: 99%

Leader–follower control of multi-unmanned aerial vehicle based on supervisory control theory for a broad tributary area mapping scenario

Seol

Son

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study proposes a discrete event system-based control strategy for autonomous tributary mapping using multi-unmanned aerial vehicle. When considering the unmanned aerial vehicles as discrete event systems, supervisory control theory is used to model and control individual unmanned aerial vehicle behavior in the system. In tributary mapping, the situation changes each time depending on environmental factors (e.g. weather) and the work must be performed in an unstructured environment. Therefore, this article proposes a multi-unmanned aerial vehicle-based supervisory control system to solve real-field problems. Unlike the control systems of recent studies, which mainly deal with continuous-time dynamics, we modeled a multi-unmanned aerial vehicle system based on a discrete event system in which the dynamic states are transitioned by asynchronous events. The proposed multi-unmanned aerial vehicle-based supervisory control system was validated in dynamic simulators and demonstrated that multi-unmanned aerial vehicle satisfies the behavior specifications. The supervisor proposed in this study was validated using a physics-based simulator.

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