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Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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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
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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
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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]
2017
arXiv
pre-print
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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
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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]
2020
arXiv
pre-print
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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
2007
IEEE Transactions on Control Systems Technology
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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
2012
Autonomous Robots
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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]
2021
arXiv
pre-print
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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
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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
2017
Zenodo
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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: https://doi.org/10.1109/IROS.2017.8202163 Authors: Kamel ...
doi:10.5281/zenodo.1063472
fatcat:yuqpv36aojhibkpocvqcrf6kbu
Final Program
2020
2020 International Conference on Unmanned Aircraft Systems (ICUAS)
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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
2021
Sensors
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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
2019
Applied Sciences
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[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
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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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