Bird Flocking Inspired Formation Control for Unmanned Aerial Vehicles Using Stereo Camera

Lwowski, Jonathan; Majumdar, Abhijit; Benavidez, Patrick; Prevost, John J.; Jamshidi, Mo

doi:10.1109/jsyst.2018.2884051

Cited by 24 publications

(6 citation statements)

References 25 publications

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“…Let e ωi = ξ ωi − ξ ωdi . Substituting (54) and ( 55) into (53), the time derivative of 1 2 ξ T ϕi ξ ϕi denotes…”

Section: Appendix B Proof Of Theoremmentioning

confidence: 99%

“…C OORDINATED flight of multiple fixed-wing unmanned aerial vehicles (UAVs) has been extensively studied over the past decades, due to its important role in achieving flexibility and cost effectiveness of mission cooperation [1], [2]. In general, coordinated control problem has been investigated in several aspects, including formulating and maintaining a particular formation shape for UAVs in a group [3], and synchronous tracking of velocity and attitude for UAV formation [4].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Zhang

Sun

et al. 2022

IEEE Systems Journal

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In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-offreedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

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“…Let e ωi = ξ ωi − ξ ωdi . Substituting (54) and ( 55) into (53), the time derivative of 1 2 ξ T ϕi ξ ϕi denotes…”

Section: Appendix B Proof Of Theoremmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Zhang

Sun

et al. 2022

IEEE Systems Journal

View full text Add to dashboard Cite

show abstract

“…The NUS hardware-in-the-loop simulator [55] that is sued to verify the proposed formation control method FIGURE 9 The schematic of a formation scenario with three followers…”

Section: Figurementioning

confidence: 99%

“…Such a cooperative platform is more capable of sharing resources and more robust against failures in team members or in communication links [4][5][6][7]. Adopting a cooperative control strategy for a team of Unmanned Aerial Vehicles (UAVs) improves their capabilities and enables them to autonomously involve in cooperative missions such as formation control [8][9][10]. Formation control is a typical cooperative task in which several agents move with a relatively fixed distance [11,12], while avoiding collision [13].…”

Section: Introductionmentioning

confidence: 99%

Decentralized modular hybrid supervisory control for the formation of unmanned helicopters

Karimoddini

Karimadini

Lin

2022

IET Control Theory & Appl

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Formation control of Unmanned Aerial Vehicles (UAVs) requires them to tightly cooperate to reach and keep the formation, while avoiding collision. This paper proposes a novel decentralized hybrid supervisory control approach for the formation control of multiple UAVs. This is achieved by developing a symbolic motion planning technique to polarly partition the motion space resulting in a finite state discrete event model for the motion dynamics of each UAV. Then, a modular discrete supervisor is designed for different components of the formation mission including reaching the formation, keeping the formation, and collision avoidance. Further, for the collision avoidance mechanism, a novel top-down decomposition-based approach is developed to design local supervisors decentralizedly. It is formally proved that with the proposed top-down decomposition-based approach, the (locally) supervised UAVs, as a whole, can cooperatively satisfy the desired (global) collision avoidance specification. The proposed decentralized supervisory control algorithm is also verified through a hardware-in-the-loop simulator for the formation control of unmanned helicopters.

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“…A multi-platform UAV system for power line inspection tasks [11] shows that the time to inspect 70 km of the power line can be reduced to 3 hours compared to a week as with the traditional inspection method. Therefore, different aspects of multiple UAV coordination such as formation control, collision avoidance, and data acquisition have been addressed [13], [14].…”

Section: Introductionmentioning

confidence: 99%

System Architecture for Real-Time Surface Inspection Using Multiple UAVs

Hoang

Phung

Dinh

et al. 2020

IEEE Systems Journal

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This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for data transmission is based on the Internet of Things (IoT). In the proposed architecture, the UAV formation is established via using the angle-encoded particle swarm optimisation to generate an inspecting path and redistribute it to each UAV where communication links are embedded with an IoT board for network and data processing capabilities. Data collected are transmitted in real time through the network to remote computational units. To detect potential damage or defects, an online image processing technique is proposed and implemented based on histograms. Extensive simulation, experiments and comparisons have been conducted to verify the validity and performance of the proposed system.

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Bird Flocking Inspired Formation Control for Unmanned Aerial Vehicles Using Stereo Camera

Cited by 24 publications

References 25 publications

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Decentralized modular hybrid supervisory control for the formation of unmanned helicopters

System Architecture for Real-Time Surface Inspection Using Multiple UAVs

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