Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

Borkar, Aseem Vivek; Hangal, Swaroop; Arya, Hemendra; Sinha, Arpita; Vachhani, Leena

doi:10.1016/j.ejcon.2020.03.005

Cited by 17 publications

(15 citation statements)

References 6 publications

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“…Formation control algorithms are used in search and rescue missions to enable usage of multi-robot ad hoc networks, see Lin et al (2014) and to multi-robot surveillance and monitoring tasks such as the approach presented in Borkar et al (2020), where reconfigurable formations of quadrotors on Lissajous curves for surveillance applications are investigated. In an earlier work Borkar et al (2016), the authors proposed using a multi-agent formation with constant parametric speed to achieve repeated collision-free surveillance and guaranteed area coverage in order to detect and entrap targets.…”

Section: Reconfigurable Team Formations For Search and Surveillance A...mentioning

confidence: 99%

On the role and opportunities in teamwork design for advanced multi-robot search systems

Francos

Bruckstein²

2023

Front. Robot. AI

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Intelligent robotic systems are becoming ever more present in our lives across a multitude of domains such as industry, transportation, agriculture, security, healthcare and even education. Such systems enable humans to focus on the interesting and sophisticated tasks while robots accomplish tasks that are either too tedious, routine or potentially dangerous for humans to do. Recent advances in perception technologies and accompanying hardware, mainly attributed to rapid advancements in the deep-learning ecosystem, enable the deployment of robotic systems equipped with onboard sensors as well as the computational power to perform autonomous reasoning and decision making online. While there has been significant progress in expanding the capabilities of single and multi-robot systems during the last decades across a multitude of domains and applications, there are still many promising areas for research that can advance the state of cooperative searching systems that employ multiple robots. In this article, several prospective avenues of research in teamwork cooperation with considerable potential for advancement of multi-robot search systems will be visited and discussed. In previous works we have shown that multi-agent search tasks can greatly benefit from intelligent cooperation between team members and can achieve performance close to the theoretical optimum. The techniques applied can be used in a variety of domains including planning against adversarial opponents, control of forest fires and coordinating search-and-rescue missions. The state-of-the-art on methods of multi-robot search across several selected domains of application is explained, highlighting the pros and cons of each method, providing an up-to-date view on the current state of the domains and their future challenges.

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Section: Reconfigurable Team Formations For Search and Surveillance A...mentioning

confidence: 99%

On the role and opportunities in teamwork design for advanced multi-robot search systems

Francos

Bruckstein²

2023

Front. Robot. AI

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“…The target centroid velocity is computed by filtering the target centroid position using an exponential smoothing filter, and then computing the discrete derivative (V T x ,V T y ) = ( ∆x T /∆t, ∆ȳ T /∆t). This is then used as compensation in (21).…”

Section: Elliptical Orbit Computationmentioning

confidence: 99%

“…For the SITL simulation, the ground convoy follows waypoints on a road network like path with sharp turns to simulate motion in an urban environment. The SITL setup is the same as in [21], wherein the 3DR Iris drone with the Pixhawk autopilot board is simulated. For the ground convoy we use a generic differential drive robot model.…”

Section: Simulations and Experimentsmentioning

confidence: 99%

“…For both the SITL simulation and the experiments, the quadrotors have internal PID control loops which track linear velocity commands along the global coordinate frame axes, i.e., (V x , V y , V z ) and the angular velocity command ω z about the vertical z axes. We approximate the quadrotor as a unicycle agent, by mapping the linear speed V A and angular velocity ω A given by (21) and (16) as follows:…”

Section: Simulations and Experimentsmentioning

confidence: 99%

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Aerial monitoring of slow moving convoys using elliptical orbits

Borkar

Sinha

2019

European Journal of Control

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“…Multiple applications for this four-rotor aerial vehicle, such as agricultural spraying and crop monitoring [9], surveillance [10], monitoring and inspection [11,12], package delivering [13], mapping [14], rescuing operations [15], etc. [16,17], rely on the quadrotor's controlled translational and rotational precision motions at prescribed velocities.…”

Section: Introductionmentioning

confidence: 99%

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Beltrán-Carbajal

Yañez-Badillo²,

Tapia‐Olvera

et al. 2022

Mathematics

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Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

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Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

Cited by 17 publications

References 6 publications

On the role and opportunities in teamwork design for advanced multi-robot search systems

On the role and opportunities in teamwork design for advanced multi-robot search systems

Aerial monitoring of slow moving convoys using elliptical orbits

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

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