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Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control

Mina Kamel, Javier Alonso-Mora, Roland Siegwart, Juan Nieto
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required.  ...  In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a modelbased controller to simultaneously track a reference trajectory and avoid collisions.  ...  One of the earliest works to achieve reactive collision avoidance for a team of flying robots using a Nonlinear Model Predictive Control (NMPC) framework is the work presented in [12] .  ... 
doi:10.1109/iros.2017.8202163 dblp:conf/iros/KamelASN17 fatcat:qnn57ddpa5g4llc7p2cwyp5gwy

2012 Subject Index

2012 Journal of Guidance Control and Dynamics  
Methods for Optimized Collision Avoidance with Multiple Threats Communication and Air Traffic Control G12-065 Conflict-Avoidance-Oriented — Airport Surface-Taxiing Guidance Lights System Model Aircraft  ...  Optimal Control After Power Failure Using Comprehensive Dynamic Model Safety G12-037 Decomposition Methods for Optimized Collision Avoidance with Multivle Threats Simulation G12-006 Tau Guidance in Boundary-Avoidance  ... 
doi:10.2514/1.60510 fatcat:pmdtengfbzhu5njb4ux3mls5sm

Subject Index

2011 Journal of Guidance Control and Dynamics  
System Conformance Collision Avoidance G11-002 Unmanned Aerial Vehicle Optimal Cooperative Obstacle Avoidance in a Stochastic Dynamic Environment G11-026 Reactive Collision Avoidance of Using Nonlinear  ...  Defending an Aircraft G11-172 Autonomous Three-Dimensional For- mation Flight for a Swarm of Unmanned Aerial Vehicles G11-173 Efficient Model Predictive Control for Aircraft G11-026 Reactive Collision  ... 
doi:10.2514/1.56394 fatcat:h2hs6frx4fhmfmklgp5pzdavdy

Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance [article]

Mina Kamel, Javier Alonso-Mora, Roland Siegwart, Juan Nieto
2017 arXiv   pre-print
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique.  ...  In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is employed to achieve simultaneously reference trajectory tracking and collision avoidance.  ...  CONCLUSIONS In this paper we presented a multi-MAVs collision avoidance strategy based on Nonlinear Model Predictive Control.  ... 
arXiv:1703.01164v1 fatcat:chqwrcb64vgu7bnnbfqyr2dawi

2010 Journal of Guidance, Control and Dynamics Subject Index

2010 Journal of Guidance Control and Dynamics  
Model Predictive Control with Flight-Test Results G10-154 Aircraft Spin Recovery Using a Sliding- Mode Controller G10-163 Robust Flight Control Using Incremen- tal Nonlinear Dynamic Inversion and Angular  ...  Vehicles G10-049 Path Following for Small Unmanned Aerial Vehicles Using LI Adaptive Augmentation of Commercial Autopilots G10-095 Controllability and Reachability for Micro-Aerial-Vehicle Trajectory  ... 
doi:10.2514/1.52477 fatcat:kvlsdca6hvhqfpvldlp2pwwon4

Model Predictive Control for Micro Aerial Vehicles: A Survey [article]

Huan Nguyen, Mina Kamel, Kostas Alexis, Roland Siegwart
2020 arXiv   pre-print
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors.  ...  Micro Aerial Vehicle configurations.  ...  CONCLUSIONS A survey on the application and design considerations of model predictive control for micro aerial vehicles was presented.  ... 
arXiv:2011.11104v1 fatcat:dil4kdnfcvfmxc7j6n3pqytlyi

Guest Editorial Introduction to the Special Issue on Multivehicle Systems Cooperative Control With Application

C. A. Rabbath, C.-Y. Su, A. Tsourdos
2007 IEEE Transactions on Control Systems Technology  
His current research interests are in real-time control and distributed modeling and simulations, nonlinear sampled-data control, guidance, and multivehicle cooperative decision and control. C.-Y.  ...  He then worked in industry from 1999 to 2002 in the areas of control systems design and in modeling and simulation of aerospace and robotic systems.  ...  In the paper, "Assigning Micro UAVs to Task Tours in an Urban Terrain," Shima, Rasmussen, and Gross present a cooperative realtime task assignment and path planning for multiple microaerial vehicles (MAV  ... 
doi:10.1109/tcst.2007.899150 fatcat:hhybrrt2hvdwtnjuw7nm6fem7m

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).  ...  The control of micro-UAVs requires careful modeling of the vehicle's dynamics and operating constraints such as actuation and sensor saturation. The small size also magnifies N. Michael ( ) · V. Kumar  ...  The vehicle is equipped with multiple stereo cameras to permit real-time vision-based localization and obstacle collision avoidance.  ... 
doi:10.1007/s10514-012-9295-y fatcat:6xug7qffcrhcpj2rry66hmmldu

Collision avoidance for multiple MAVs using fast centralized NMPC [article]

Björn Lindqvist, Sina Sharif Mansouri, Pantelis Sopasakis, George Nikolakopoulos
2021 arXiv   pre-print
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs).  ...  The control architecture uses an augmented state system to control multiple agents and performs both obstacle and collision avoidance.  ...  Specifically, for a nonlinear model predictive control (NMPC) scheme, the computation time is the greatest bottleneck.  ... 
arXiv:2109.01012v1 fatcat:kf5preed6veddkylouvrxoz5da

Author Index

2006 2006 14th Mediterranean Conference on Control and Automation  
Robust Model Predictive Control for Controlling Fast Vehicle Dynamics WM2-2 Bokor, J.  ...  Experiments of Formation Control with Collisions Avoidance using the Null- Space-Based Behavioral Control WM3-1 Chriette, A.  ... 
doi:10.1109/med.2006.328715 fatcat:rjjaot7sdzdsxe2ljxq56lfsdu

Summary Report On Live Demos And Videos With Results

Andrea Bisoffi
2017 Zenodo  
Abstract: We present an aerial robotic platform for remote tree cavity inspection, based on a hexacopter Micro-Aerial vehicle (MAV) equipped with a dexterous manipulator.  ...  Then, it executes the plan using a continuous controller that is based on decentralized navigation functions, which also guarantee inter-agent collision avoidance.  ...  Title: Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control Type:Video Digital Object Identifier: Authors: Kamel  ... 
doi:10.5281/zenodo.1063472 fatcat:yuqpv36aojhibkpocvqcrf6kbu

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
We are certain that all of us will take pleasure in visiting Athens and in travelling through the city's incredible history. We look forward to seeing all of you in Athens.  ...  We thank all of them for their extremely valuable contributions and dedication. Dr.  ...  The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with eventtriggered mechanism using a dynamic-threshold.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Deep Reinforcement Learning for End-to-End Local Motion Planning of Autonomous Aerial Robots in Unknown Outdoor Environments: Real-Time Flight Experiments

Oualid Doukhi, Deok-Jin Lee
2021 Sensors  
Intensive simulations and real-time experiments were conducted and compared with a nonlinear model predictive control technique to show the generalization capabilities to new unseen environments, and robustness  ...  This challenge becomes more applicable in micro aerial vehicles (MAVs) due to their limited size and computational power.  ...  For instance, in [13] , the authors proposed an approach based on nonlinear model predictive control (NMPC) for dynamic collision avoidance for a multi-rotor unmanned aerial vehicle.  ... 
doi:10.3390/s21072534 pmid:33916624 fatcat:w4r3kha6sjgtbddk6i3s3y7gde

Special Feature on Advanced Mobile Robotics

DaeEun Kim
2019 Applied Sciences  
[51] used model predictive control and particle swarm optimization as an optimization process for steering angles and wheel forces.  ...  [23] proposed a robust fault diagnosis method for quadcopter UAVs (Unmanned Aerial Vehicles). It uses a sliding mode observer to estimate the fault magnitude and location.  ... 
doi:10.3390/app9214686 fatcat:25p6a4yjxzd25anrryk5cdghii

Journal of Aircraft 2014 Subject Index

2014 Journal of Aircraft  
Conditions Management Autonomous Vehicles C14-054 Deadlock-Free Consecutive Task As- signment of Multiple Heterogeneous Unmanned Aerial Vehicles C14-060 Micro Air Vehicle’s Attitude Control Using Real-Time  ...  Schlieren Technique Uninhabited and Unmanned Air Vehicles C14-054 Deadlock-Free Consecutive Task As- signment of Multiple Heterogeneous Unmanned Aerial Vehicles C14-061 Development of a Micro Twin-Rotor  ... 
doi:10.2514/1.c033195 fatcat:jvcvdp26efg4bjm3hfa6yuo4mm
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