Collaborative Guidance of UAV-Transported Semi-Flexible Payloads in Environments with Obstacles

Hegde, Aditya; Ghose, Debasish

doi:10.1109/cdc45484.2021.9683227

Cited by 3 publications

(2 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Unmanned aerial vehicles (UAVs) are widely used in photogrammetry, 1 agriculture, 2,3 search and rescue operations, 4 payload transportation, [5][6][7] and target-tracking applications. Recently, UAV-based target-tracking applications have received significant attention, and relevant work has been done to track moving objects visually.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications

Hegde

Jerry

Ghose

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

Self Cite

View full text Add to dashboard Cite

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV distances in the formation in order to ensure safe operation. In doing so, we address the problem of prioritizing specific objectives over others in a multi-objective control framework. We propose a barrier Lyapunov function-based distributed control law to enforce the bounds on the distances and assess its Lyapunov stability using a kinematic model. The theoretical analysis is supported by numerical results, which account for measurement noise and moving targets. Straight-line and circular motion of the target are considered, and results for quadratic Lyapunov function-based control, often used in multi-agent multi-objective problems, are also presented. A comparison of the two control approaches elucidates the advantages of our proposed safe-control in bounding the inter-agent distances in a formation. A concluding evaluation using Robot Operating System simulations illustrates the practical applicability of the proposed control to a pair of multi-rotors visually estimating and maintaining their mutual separation within specified bounds, as they track a moving target.

show abstract

Section: Introductionmentioning

confidence: 99%

“…where a and b are as defined in (6), and kv T k < u max for all k 2 {1, 2, …, N}. Then, the following statements hold: i) If K T , K > 0, all the agents asymptotically converge to the formation defined by r i, j ≤r i, j ≤r i, j , " i, j ð Þ2E.…”

mentioning

confidence: 99%

Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications

Hegde

Jerry

Ghose

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

Self Cite

View full text Add to dashboard Cite

show abstract

Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions

Song,

Huang

2024

Drones

View full text Add to dashboard Cite

This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a disturbance observer that combines fixed-time control theory and sliding mode control is designed to estimate the external disturbance. Based on these techniques, we design a nominal control law to drive UAVs to track the desired formation in a fixed time. Regarding obstacle avoidance, we first construct safety constraints using control barrier functions (CBFs). Then, obstacle avoidance can be achieved by solving an optimization problem with these safety constraints, thus minimally affecting tracking performance. The main contributions of this process are twofold. First, an exponential CBF is provided to deal with the UAV model with a high relative degree. Moreover, a robust exponential CBF is designed for UAVs with disturbance, which provides robust safety constraints to ensure obstacle avoidance despite disturbance. Finally, simulation results show the validity of the proposed method.

show abstract

機体の形状を考慮した制御バリア関数の積分設計法

YAKUWA,

NAKAMURA

2023

Transactions of the Society of Instrument and Control Engineers

View full text Add to dashboard Cite

Collaborative Guidance of UAV-Transported Semi-Flexible Payloads in Environments with Obstacles

Cited by 3 publications

References 20 publications

Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications

Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications

Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions

機体の形状を考慮した制御バリア関数の積分設計法

Contact Info

Product

Resources

About