Stabilization of collective motion in a time-invariant flowfield on a rotating sphere

Hernández, Sonia López; Paley, Derek A.

doi:10.1109/acc.2009.5160631

Cited by 9 publications

(8 citation statements)

References 12 publications

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“…In order to show the importance of the term, we used γ = 1 in (20) since it is almost impossible to see the difference between the performance of the controller with and without the term (the oscillation in V is very small) with γ = 0.05. This is due to the fact that the curve is too slow, compared with our choice of G and V , and therefore, P is not so important as when γ = 1.…”

Section: Numerical Examplementioning

confidence: 99%

Application of Remote Sensing Optical Properties of Ship Wakes at Sea Area out of Dalian Harbor

Zhang¹,

Zhang²,

Yuan³

2010

2010 Symposium on Photonics and Optoelectronics

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This paper presents a methodology for computation of artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robotnavigation problems such as border monitoring, surveillance, target tracking, and multirobot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time-varying curves defined in n-dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for construction of the target curve based on a given set of its samples.

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Section: Numerical Examplementioning

confidence: 99%

Application of Remote Sensing Optical Properties of Ship Wakes at Sea Area out of Dalian Harbor

Zhang¹,

Zhang²,

Yuan³

2010

2010 Symposium on Photonics and Optoelectronics

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“…We then use (10) to compare the components of (11) to the components ofẋ k given in (4). The expressions for h k , q k , and w k are…”

Section: Particle Motion In a Flowfieldmentioning

confidence: 99%

“…However, motivated by unmanned vehicles that perform volumetric samplingsuch as underwater gliders and unmanned aircraft-we are interested in studying a three-dimensional model. For constant altitude/depth surveys on scales where the curvature and/or rotation of the earth are relevant, a two-dimensional model in which particles are constrained to the surface of a sphere has been studied [9], [10]. Most of the work done in three-dimensional collective motion has focused on flowfree models with possibly limited communication [11], [12], [9].…”

Section: Introductionmentioning

confidence: 99%

“…Threedimensional motion coordination using geometric control has also been studied in [14]. We follow the development in [6] and [10] (also see [15], [8]), which describe a planar framework for stabilizing collective motion in a time-invariant flow. Although we assume that all-to-all communication is available, this framework is easily extended to networks with limited communication [16].…”

Section: Introductionmentioning

confidence: 99%

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Three-dimensional motion coordination in a time-invariant flowfield

Hernández

Paley

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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Abstract-Three-dimensional motion coordination in a flowfield has applications in environmental monitoring with autonomous vehicles. Motion-coordination algorithms designed using a flow-free motion model often fail to converge in even moderate flow speeds. We apply Lyapunov-based methods to design decentralized feedback laws for use in a threedimensional, time-invariant flowfield that does not exceed the speed of each platform relative to the flow. The control laws stabilize moving formations in a dynamic model of identical particles that travel at constant speed relative to the flow. Specifically, we provide theoretically justified algorithms to stabilize parallel, helical, and circular formations in a three dimensional flowfield. In ongoing work, we seek to extend the three-dimensional motion-coordination framework to address strong and time-varying flowfields that represent more realistic environmental dynamics in the atmosphere and ocean.

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“…Relative to multi-vehicle coordination, the authors in [12] have more recently demonstrated stable formation control in the presence of an external time-invariant flow field. However, the assumption that vehicles have faster absolute velocity than the surrounding flow field is taken.…”

Section: Introductionmentioning

confidence: 98%

A coverage algorithm for drifters in a river environment

Kwok

Martínez

2010

Proceedings of the 2010 American Control Conference

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This paper studies a coverage problem for a network of vehicles in an environment where there is an ambient flow field. This flow field can represent river currents or atmospheric air patterns that affect the vehicles' motion. Specifically, we examine the case where the flow field is always greater in magnitude than the available actuation of any individual vehicle. We define reachability sets of each agent and characterize several of their properties. These reachability sets provide a basis for dominance regions of each agent based on travel times. For the particular case of linear flows, we find a closed-form expression for these and analyze distributed gradient algorithms that optimize an area coverage metric. Finally, we present simulations illustrating the algorithm's performance and discuss lines of future research.

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Stabilization of collective motion in a time-invariant flowfield on a rotating sphere

Cited by 9 publications

References 12 publications

Application of Remote Sensing Optical Properties of Ship Wakes at Sea Area out of Dalian Harbor

Application of Remote Sensing Optical Properties of Ship Wakes at Sea Area out of Dalian Harbor

Three-dimensional motion coordination in a time-invariant flowfield

A coverage algorithm for drifters in a river environment

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