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Formation Flight Control

Yu Gu, Giampiero Campa, Mario Innocenti
2011 International Journal of Aerospace Engineering  
For space vehicles, precise control of formation flight will enable future large-aperture space telescopes, variable baseline space interferometers, autonomous rendezvous and docking, and robotic assembly  ...  The fourth paper "Decentralized model predictive control for cooperative multiple vehicles subject to communication loss" investigates the control of multiple cooperative vehicles with the possibility  ...  For space vehicles, precise control of formation flight will enable future large-aperture space telescopes, variable baseline space interferometers, autonomous rendezvous and docking, and robotic assembly  ... 
doi:10.1155/2011/798981 fatcat:wekipbw3wfd4zo2bchbrgf3ucy

Decentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks

Deok-Jin Lee, Richard Mark
2010 International Journal of Advanced Robotic Systems  
The sensor networks estabilished by the decentralized cooperative control technique with a formation flying of the aerila vehicles for phase synchronization can adopt its configuraiton in response to signal  ...  Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks. aerial robotic vehicles to establish wireless  ...  The second part is a formation flying control of a team of aerial robots to minimize bank angle effects for maximum communication throughputs between the aerial vehicles.  ... 
doi:10.5772/9702 fatcat:ak44h3oldbburkcorhv7tthqje

Autonomous Cooperative Transportation System involving Multi-Aerial Robots with Variable Attachment Mechanism [article]

Koshi Oishi, Tomohiko Jimbo
2021 arXiv   pre-print
The proposed system decides the formation of the attachment positions by prioritizing controllability based on the center of gravity obtained from Bayesian estimations with robot pairs.  ...  The proposed system was found to be versatile with regard to handling unknown payloads with different shapes and center-of-gravity positions.  ...  The prototype has rails attached along the shape of the payload, and the aerial robots have a variable attachment mechanism with a common rail.  ... 
arXiv:2109.10575v1 fatcat:dyqlbngjuza25pli66uiespqhe

UAV Formation Shape Control via Decentralized Markov Decision Processes

Md Ali Azam, Hans D. Mittelmann, Shankarachary Ragi
2021 Algorithms  
In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach.  ...  Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP).  ...  Several recent papers describe the formation control of different geometric shapes, e.g., multi-agent circular shape with a leader [9] .  ... 
doi:10.3390/a14030091 fatcat:yjwtzckrnbdktgb2nrth3amp2e

Control of Ensembles of Aerial Robots

Nathan Michael, Vijay Kumar
2011 Proceedings of the IEEE  
This paper addresses the development of a framework and robot controllers that enable a group of aerial robots to maintain a formation with partial state information while avoiding collisions.  ...  abstract space by synthesizing controllers for individual robots that respect the specified abstraction.  ...  We now design exponentially stabilizing controllers on SE(3) and R 3 for the group and shape variables.  ... 
doi:10.1109/jproc.2011.2157275 fatcat:6fgfug3zyfffrdphyfeiucgxgq

Outdoor flocking and formation flight with autonomous aerial robots [article]

Gábor Vásárhelyi and Csaba Virágh and Gergő Somorjai and Norbert Tarcai and Tamás Szörényi and Tamás Nepusz and Tamás Vicsek
2014 arXiv   pre-print
With realistic numerical simulations we demonstrated that the local broadcast-type communication and the decentralized autonomous control method allows for the scalability of the model for much larger  ...  Collective behavior is based on a decentralized control framework with bio-inspiration from statistical physical modelling of animal swarms.  ...  Such natural systems provide bio-inspiration for swarm robotics aiming at creating nature-like, i.e., efficient flocks of artificial units with decentralized control.  ... 
arXiv:1402.3588v2 fatcat:i3lr5xsbfndkvoj5vxtl7imfxm

Guest Editorial Special Issue on Networked Cooperative Autonomous Systems

Lorenzo Sabattini, Frank Ehlers, Don Sofge
2015 IEEE Transactions on Automation Science and Engineering  
cooperative robots and autonomous systems: multivehicle systems for logistics, decentralized traffic management. • Domain-specific networked cooperative autonomous systems: groups of autonomous aerial  ...  In particular, the presence of a limited number of robots with higher sensor payload, higher processing power, and a larger memory capacity is exploited for developing a decentralized localization mechanism  ...  In particular, with the proposed methodology, robotic boats are able to autonomously dock together and form connected structures with controllable variable stiffness, and these structures are able to self-reconfigure  ... 
doi:10.1109/tase.2015.2433832 fatcat:y2f4is7ayfcsboqt2rl3xuy2qu

Special issue on micro-UAV perception and control

Nathan Michael, Davide Scaramuzza, Vijay Kumar
2012 Autonomous Robots  
This special journal issue focuses on the problems of perception and control for micro unmanned aerial vehicles (UAVs).  ...  A fundamental limitation of micro-UAVs arises from the onboard power for actuation, sensing, and computation, which can be insubstantial because of limitations on specific power and energy density with  ...  A finite-horizon decentralized leaderfollower formation control law is proposed that guarantees convergence to a desired formation shape through consensus on trajectories of neighboring robots.  ... 
doi:10.1007/s10514-012-9295-y fatcat:6xug7qffcrhcpj2rry66hmmldu

A Survey of Collective Movement of Mobile Robots

Iñaki Navarro, Fernando Matía
2013 International Journal of Advanced Robotic Systems  
Collective movement of mobile robots is the problem of how to control a group of robots making them move as a group, in a cohesive way, towards a common direction.  ...  Collective movement serves not only to move a group of robots from one point to another, but to perform more complex tasks such as using the group of robots as a moving sensor array, collective mapping  ...  These shape transformations can be useful for different reasons such as better navigation, or optimal positioning of the robots to measure certain variables.  ... 
doi:10.5772/54600 fatcat:s6t7b4jihzewngnszihjiir76i

Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs

R.W. Beard, T.W. McLain, D.B. Nelson, D. Kingston, D. Johanson
2006 Proceedings of the IEEE  
This paper gives an overview of a cooperative control strategy for aerial surveillance that has been successfully flight tested on small (48 inch wingspan) UAVs.  ...  Therefore, there is a critical need for automating aerial surveillance using unmanned air vehicles (UAVs).  ...  Another similarity is that decentralized cooperation strategies are generally required for both ground and aerial robots.  ... 
doi:10.1109/jproc.2006.876930 fatcat:5h7mcosoufesjpuazmmrgmksue

Recent Advances in Formations of Multiple Robots

Saar Cohen, Noa Agmon
2021 Current Robotics Reports  
Recent Findings Various approaches may be applied for the sake of formation maintenance, whereas each approach possesses a different perspective in regard with formation control.  ...  shape or a particular behavior.  ...  Kuriki and Namerikawa [34] propose a cooperative formation control strategy with collision-avoidance capability for a multi-unmanned aerial vehicle (UAV) system using decentralized MPFC and consensus-based  ... 
doi:10.1007/s43154-021-00049-2 fatcat:xu4xzhaqpvduljk6pvf34z6fva

Adaptive Swarm Formation Control for Hybrid Ground and Aerial Assets [chapter]

Laura Barnes, Richard Garcia, Mary Anne, Kimon Valavanis
2010 Cutting Edge Robotics 2010  
for Hybrid Ground and Aerial Assets 277 www.intechopen.comAdaptive Swarm Formation Control for Hybrid Ground and Aerial Assets  ...  This is done by combining decentralized flocking algorithms with navigation functions.  ...  -2010/adaptive-swarm-formation-control-for-hybrid-ground-and-aerial-assets © 2010 The Author(s).  ... 
doi:10.5772/10320 fatcat:yse74tozkjavfb3qp5u65qv7by

Formation control of multirotor aerial vehicles using decentralized MPC

Ícaro Bezerra Viana, Davi Antônio dos Santos, Luiz Carlos Sandoval Góes
2018 Journal of the Brazilian Society of Mechanical Sciences and Engineering  
with other agents and different shapes of obstacles.  ...  Keywords Aerial robotics Á Multirotor aerial vehicles Á Decentralized model predictive control Á Mixed-integer quadratic program (MIQP) Journal of the Brazilian Society of Mechanical Sciences and Engineering  ...  The first author is grateful to CNPq for supporting him with a doctoral scholarship.  ... 
doi:10.1007/s40430-018-1206-5 fatcat:ljmoyk2izreqfd3rcgtuowsune

Trajectory design and control for aggressive formation flight with quadrotors

Matthew Turpin, Nathan Michael, Vijay Kumar
2012 Autonomous Robots  
The formation is specified by a shape matrix that prescribes the relative separations and bearings between the robots.  ...  We explore the interaction between nonlinear decentralized controllers, the fourth-order dynamics of the individual robots, the time delays in the network, and the effects of communication failures on  ...  Section 4 details control laws for formation control with a team of aerial robots and discusses considerations for improving controller performance given degrading network performance and robot failures  ... 
doi:10.1007/s10514-012-9279-y fatcat:ftwn3ujx2jcw5binihgkambgfm

Actively articulated suspension for a wheel-on-leg rover operating on a Martian analog surface

William Reid, Francisco Javier Perez-Grau, Ali Haydar Goktogan, Salah Sukkarieh
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
Decentralised Control of Robot Teams with Discrete and Continuous Decision Variables.  ...  Online task planning and control for aerial robots with fuel constraints in winds. The Eleventh International Workshop on the Algorithmic Foundations of Robotics, Istanbul: Springer.  ... 
doi:10.1109/icra.2016.7487777 dblp:conf/icra/ReidPGS16 fatcat:x6w4c3fyizbevfsmvuzbm3pv3e
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