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Conference Paper: Hybrid System Design for Formations of Autonomous Vehicles

TitleHybrid System Design for Formations of Autonomous Vehicles
Authors
Issue Date2003
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188
Citation
Proceedings Of The Ieee Conference On Decision And Control, 2003, v. 1, p. 1-6 How to Cite?
AbstractCooperative control of multiple unmanned aerial vehicles (UAVs) poses significant theoretical and technical challenges. Recent advances in sensing, communication and computation enable the conduct of cooperative multiple-UAV missions deemed impossible in the recent past. We are interested in solving the Formation Reconfiguration Planning (FRP) problem which is focused on determining a nominal state and input trajectory for each vehicle such that the group can start from the given initial configuration and reach its given final configuration at the specified time while satisfying a set of given inter- and intra- vehicle constraints. Each solution of a FRP problem represents a distinct reconfiguration mode. When coupled with formation keeping modes, they can form a hybrid automaton of formation maneuvers in which a transition from one formation maneuver to another formation maneuver is governed by a finite automaton. This paper focuses on the implementation of the optimized hybrid system approach to formation reconfiguration for a group of 1 real and 3 virtual UAVs. Experimental results performed in the Richmond Field Station by using a helicopter-based Berkeley Aerial Robot are presented.
Persistent Identifierhttp://hdl.handle.net/10722/188706
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorZelinski, Sen_US
dc.contributor.authorKoo, TJen_US
dc.contributor.authorSastry, Sen_US
dc.date.accessioned2013-09-03T04:13:36Z-
dc.date.available2013-09-03T04:13:36Z-
dc.date.issued2003en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 2003, v. 1, p. 1-6en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/188706-
dc.description.abstractCooperative control of multiple unmanned aerial vehicles (UAVs) poses significant theoretical and technical challenges. Recent advances in sensing, communication and computation enable the conduct of cooperative multiple-UAV missions deemed impossible in the recent past. We are interested in solving the Formation Reconfiguration Planning (FRP) problem which is focused on determining a nominal state and input trajectory for each vehicle such that the group can start from the given initial configuration and reach its given final configuration at the specified time while satisfying a set of given inter- and intra- vehicle constraints. Each solution of a FRP problem represents a distinct reconfiguration mode. When coupled with formation keeping modes, they can form a hybrid automaton of formation maneuvers in which a transition from one formation maneuver to another formation maneuver is governed by a finite automaton. This paper focuses on the implementation of the optimized hybrid system approach to formation reconfiguration for a group of 1 real and 3 virtual UAVs. Experimental results performed in the Richmond Field Station by using a helicopter-based Berkeley Aerial Robot are presented.en_US
dc.languageengen_US
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188en_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.titleHybrid System Design for Formations of Autonomous Vehiclesen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJ: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJ=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-1542329260en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-1542329260&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume1en_US
dc.identifier.spage1en_US
dc.identifier.epage6en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridZelinski, S=6507432183en_US
dc.identifier.scopusauthoridKoo, TJ=7005428590en_US
dc.identifier.scopusauthoridSastry, S=35560685800en_US

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