Stable emergent formations for a swarm of autonomous car-like vehicles

Vanualailai, Jito

doi:10.1177/1729881419849780

Cited by 9 publications

(13 citation statements)

References 26 publications

(59 reference statements)

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“…Since all analysis in this paper is performed in 2D, the methodology may be compared to land-based systems. Self-organisation and emergent formations of a swarm of autonomous, car-like vehicles was investigated by Vanualailai et al [42,43]. The papers investigate the emergent dynamics of a Lagrangian swarm.…”

Section: Airspace and System-level Analysismentioning

confidence: 99%

Traffic conflict reduction based on distributed stochastic task allocation

2022

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The aim of this paper is to provide preliminary results on a traffic coordination framework based on stochastic task allocation. General trends and the predicted advent of personal aerial vehicles increase traffic rapidly, but current air traffic management methods admittedly cannot scale appropriately. A hierarchical system is proposed to overcome the problem, the middle layer of which is elaborated in this paper. This layer aims to enable stochastic control of traffic behaviour using a single parameter, which is achieved by applying distributed stochastic task allocation. The task allocation algorithm is used to allocate speeds to vehicles in a scalable way. By regulating the speed distribution of vehicles the conflict rates remain manageable. Multi-agent simulation results show that it is possible to control ensemble dynamics and together with that traffic safety and throughput via a single parameter. Using transient simulations the dynamic performance of the system is analysed. It is shown that the traffic conflict reduction problem can be transformed into a control design problem. The performance of a simple controller is also evaluated. It was shown that by applying the controller, quicker transients can be achieved for the mean speed of the system.

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Section: Airspace and System-level Analysismentioning

confidence: 99%

Traffic conflict reduction based on distributed stochastic task allocation

2022

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“…The goal is to ensure that individuals of the swarm are attracted toward each other and form a cohesive group by having a measurement of the distance from the kth individual to the swarm centroid. 54 The rule stipulates that the individuals stay close to the nearest flock mates. Thus, for attraction toward the center of the swarm, we define the following attraction function:…”

Section: Attraction To the Centroidmentioning

confidence: 99%

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Raj¹,

Raghuwaiya²,

Sharma³

et al. 2021

Robotica

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SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

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“…We first establish the boundedness of H(x) for x bounded using a recently published approach in Vanualailai [40].…”

Section: B Nonlinear Controllersmentioning

confidence: 99%

Novel Lyapunov-Based Autonomous Controllers for Quadrotors

2020

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In this paper, we look into the dynamic motion planning and control of an unmanned aerial vehicle, namely, the quadrotor, governed by its dynamical equations. It is shown for the first time that the Direct or the Second Method of Lyapunov is an effective tool to derive a set of continuous nonlinear control laws that not only provide smooth trajectories from a designated initial position to a designated target, but also continuously minimise the roll and pitch of the quadrotor en route to its targets. The latter successfully addresses the challenging problem of a quadrotor autonomously transporting valuable and fragile payloads safely to the designated target. Computer simulations are used to illustrate the effectiveness of the proposed control laws. INDEX TERMS Artificial potential field, Lyapunov-based control scheme, quadrotor, stability, UAV.

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Stable emergent formations for a swarm of autonomous car-like vehicles

Cited by 9 publications

References 26 publications

Traffic conflict reduction based on distributed stochastic task allocation

Traffic conflict reduction based on distributed stochastic task allocation

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Novel Lyapunov-Based Autonomous Controllers for Quadrotors

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