A hardware in the loop simulation testbed for vision-based leader-follower formation flight

Dehghani, Mohammad Ali; Menhaj, Mohammad Bagher; Ghaderi, Hadi

doi:10.1016/j.mechatronics.2016.10.015

Cited by 9 publications

(6 citation statements)

References 19 publications

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“…Multirobot transportation tasks could be considered as a navigation in formation control problem. This is a classical issue that has attracted the attention of many researches in the last decade [32,33,34,35]. The proposed approaches can be classified into three main groups: behavior-based approach, leader-follower approach, and virtual structure approach.…”

Section: Introductionmentioning

confidence: 99%

Mobile robots path planning and mobile multirobots control: A review

Hichri

Gallala

Giovannini³

et al. 2022

Robotica

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Mobile robots and multimobile robotic system usage for task achievement have been an emerging research area since the last decades. This article presents a review about mobile robot navigation problem and multimobile robotic systems control. The main focus is made on path planning strategies and algorithms in static and dynamic environments. A classification on mobile robots path planning has been defined in the literature and divided to classical and heuristic approaches. Each of them has its own advantages and drawbacks. On the other hand, the control of multimobile robots is presented and the control approaches for a fleet of robots are presented. Scientists found that using more than one robot as opposed to a single one presents many advantages when considering redundant task, dangerous tasks, or a task that scales up or down in time or that requires flexibility. They have defined three main approaches of multiple robots control: behavior-based approach, leader–follower approach, and virtual structure approach. This article addresses these approaches and provides examples from the literature.

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Section: Introductionmentioning

confidence: 99%

Mobile robots path planning and mobile multirobots control: A review

Hichri

Gallala

Giovannini³

et al. 2022

Robotica

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“…Although [19,20] consider the formation control problem in a 3D environment, formation control in a perturbed environment has not been sufficiently studied in [19,20]. In addition, [21,22] also considered formation control in a 3D environment, but only the formation of three UAVs was simulated and the control of followers who could not observe the state of the pilot aircraft was not sufficiently considered. Although the above work has considered the UAV formation problem in visionbased situations, the formation control problem for multiple UAVs in complex environments has been less studied.…”

Section: Introductionmentioning

confidence: 99%

UAV Formation Control Under Communication Constraints Based on Distributed Model Predictive Control

Chen¹,

Jin²,

Wang

et al. 2022

IEEE Access

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In this paper, an anti-disturbance control for UAVs formations in a three-dimensional environment using relative information is proposed. To accurately describe the UAV cluster motion error in a three-dimensional environment, an error estimation model based on the UAV model is established to realize the UAV state estimation based on relative information. The control law to achieve the stability of the UAV formation under bounded perturbation is also derived using the backstepping control strategy. Next, to realize that the UAV formation can achieve optimal control under performance constraints, an algorithm based on model predictive control is proposed, and an ant colony algorithm is used to accelerate the solution process. Then, the stability of the UAV formation under the action of this algorithm is investigated. Finally, the superiority and effectiveness of the algorithm compared with the traditional backstepping control method are verified through comparative simulations.

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“…Multi-robot transportation tasks can be seen as a navigation in formation control problem. This is a classical problem that has attracted the attention of the research community in the past decade (Dehghani et al, 2016;Das et al, 2015;Peng, 2013). The approaches proposed to solve it can be classified into three main groups, namely, behaviorbased approach, leader-follower approach and virtual structure (VS) approach.…”

Section: Introductionmentioning

confidence: 99%

Flexible co-manipulation and transportation with mobile multi-robot system

Hichri

Adouane

Fauroux

et al. 2019

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Purpose The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape. Design/methodology/approach The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload. Findings An optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach. Originality/value This paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.

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A hardware in the loop simulation testbed for vision-based leader-follower formation flight

Cited by 9 publications

References 19 publications

Mobile robots path planning and mobile multirobots control: A review

Mobile robots path planning and mobile multirobots control: A review

UAV Formation Control Under Communication Constraints Based on Distributed Model Predictive Control

Flexible co-manipulation and transportation with mobile multi-robot system

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