Three-Dimensional Motion Coordination in a Spatiotemporal Flowfield

Hernández, Sonia López; Paley, Derek A.

doi:10.1109/tac.2010.2070710

Cited by 25 publications

(11 citation statements)

References 14 publications

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“…The condition (13) for each rigid body i is not distributed since it requires input information of distance neighbors, i.e., ω j , j ∈ N d,i . We thus employ the distributed condition (12) to satisfy (13). Then, because j ∈ N d,i ⇔ i ∈ N d,j and e T 3 eξ θij e 3 = e T 3 eξ θji e 3 hold, the satisfaction of (12) for all i ∈ V guarantees (13) for all i ∈ V. Here, considering (12) can be regarded as sharing (13) equally 3 between rigid body i and rigid body j. Theorem 1 can be thus applied.…”

Section: B Distributed Collision Avoidance On a Spherementioning

confidence: 99%

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Ibuki

Wilson

Ames

et al. 2020

IEEE Control Syst. Lett.

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This paper studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated through simulation.

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Section: B Distributed Collision Avoidance On a Spherementioning

confidence: 99%

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Ibuki

Wilson

Ames

et al. 2020

IEEE Control Syst. Lett.

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“…Collective behaviors such as spirals and circular formations on the surface of a sphere [5] exist in this higher degree of freedom world. However, the cooperative control algorithms in this paper have been designed for a planar case.…”

Section: Numerical Integration Of Submarine Modelmentioning

confidence: 99%

Observer-based feedback control for stabilization of collective motion

Napora

Paley

2011

Proceedings of the 2011 American Control Conference

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Multi-vehicle control has applications in weather monitoring and ocean sampling. Previous work in this field has produced theoretically justified algorithms for stabilization of parallel and circular motions of self-propelled Newtonian particles using measurements of relative position and relative velocity. This paper describes an observer-based feedback control algorithm for stabilization of parallel and circular motions using measurements of relative position only. The algorithm utilizes information about vehicle dynamics and turning rates to estimate relative velocity.Theoretical justification is provided for the vehicle model, and numerical simulations suggest that the algorithm extends to a three-dimensional rigid body model. The algorithm has been implemented on a laboratory-scale underwater vehicle testbed, and we describe the results of experimental validation in the University of Maryland's Neutral Buoyancy Research Facility.

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“…Motivated by the applications of autonomous underwater vehicles (AUVs) in oceanographic sampling, a novel rotating formation control problem was solved in [19] to make all agents circle around a common point with some special structures at a unit speed. In [20], 3D circular motion coordination was studied in the presence of a time-invariant flow field. Because all agents finally move on a unit circle in [19,20], a collective rotating formation control problem was investigated in [21] for second-order multi-agent systems in 2D.…”

Section: Introductionmentioning

confidence: 99%

“…In [20], 3D circular motion coordination was studied in the presence of a time-invariant flow field. Because all agents finally move on a unit circle in [19,20], a collective rotating formation control problem was investigated in [21] for second-order multi-agent systems in 2D. Subsequently, in [22], the authors extended the work of [21] to address the collective rotating formation control problem for second-order multiagent systems in 3D.…”

Section: Introductionmentioning

confidence: 99%

Distributed stereoscopic rotating formation control of networks of second-order agents

Song

et al. 2013

J. of Syst. Eng. Electron.

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Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

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Three-Dimensional Motion Coordination in a Spatiotemporal Flowfield

Cited by 25 publications

References 14 publications

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach

Observer-based feedback control for stabilization of collective motion

Distributed stereoscopic rotating formation control of networks of second-order agents

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