Decentralized hybrid formation control of Unmanned Aerial Vehicles

Karimoddini, Ali; Karimadini, Mohammad; Lin, Hai

doi:10.1109/acc.2014.6858770

Cited by 16 publications

(11 citation statements)

References 30 publications

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“…The authors then extended their work to the case of fault-tolerant cooperative tasking in [35] and dealt with the robustness issues of the proposed top-down design approach with respect to event failures in the multi-agent systems, and necessary and sufficient conditions characterized by event passivity were proposed on failed events under which a decomposable global task can still be accomplished successfully. The topdown design approach was implemented to the coordination control of unmanned helicopters in [37,39] using conic partitions of the fly zone.…”

Section: Multi-robot Systemsmentioning

confidence: 99%

Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control

Lin

2014

Un. Sys.

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A new trend in the robotic motion planning literature is to use formal methods, like model checking, reactive synthesis and supervisory control theory, to automatically design controllers that drive a mobile robot to accomplish some high level missions in a guaranteed manner. This is also known as the correct-by-construction method. The high level missions are usually specified as temporal logics, particularly as linear temporal logic formulas, due to their similarity to human natural languages. This paper provides a brief overview of the recent developments in this newly emerged research area. A number of fundamental topics, such as temporal logic, model checking, bisimulation quotient transition systems and reachability controller design are reviewed. Additionally, the key challenges and possible future directions in this area are briefly discussed with references given for further reading.

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Section: Multi-robot Systemsmentioning

confidence: 99%

Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control

Lin

2014

Un. Sys.

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“…The main contribution of [7] is therefore the necessary and sufficient conditions on the global specification automaton which guarantees a successful decomposition. This approach was further evaluated on hieratical formation control of a multi-robot system in [8] and [9]. This framework however, could be fragile with respect to the individual agent, or even single local action failure.…”

Section: Introductionmentioning

confidence: 99%

Assume-guarantee cooperative satisfaction of multi-agent systems

Partovi

Lin

2014

2014 American Control Conference

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This paper aims to investigate the task decomposition problem of multi-agent systems. Task decomposition among agents refers to a process to decompose a given global task into subtasks for individual agents. The decomposition is not arbitrary and should be done in such a way that the satisfaction of the sub-tasks by all agents individually would imply the accomplishment of the global task collectively. In this paper, it is assumed that agents are modeled by labeled transition systems, and the global specification is given as a subclass of Computation Tree Logic (CTL) formulas. It is also assumed that the global CTL specification is broadcasted to and known by all agents. Agents could be heterogeneous and have different capabilities. In order to obtain subtasks for each agent with a maximum potential for fault tolerance, our basic idea is to let each agent contribute to their maximum capabilities in the sense of satisfying a maximum number of sub-formulas of the global specification. The maximum satisfaction set is achieved through a modified CTL model checking algorithm. These maximum satisfiable sub-formulas can be used as the subtask for the corresponding agent. Furthermore, based on assume-guarantee reasoning, sufficient conditions are derived to guarantee the satisfaction of the global CTL specification provided that each agent fullfill its own subtasks. A two-robot cooperative motion planning example is given to illustrate the results.

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“…Distributed and decentralised control techniques were used in the literature to solve the leader-follower control problem. The distributed control technique assumes that not all followers receive the leader's information and there is a kind of cooperation among them [4]- [14], while the decentralised control technique proposes that all followers are able to receive the leader's information [15]- [20].…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, some controllers have been proposed with decentralized control technique. For instance, a hybrid supervisory control based on a polar partitioning approach was suggested in [15] for the team formation problem and for collision avoidance as well. The combination of discrete quadrotors dynamic system and the supervisor was achieved using the parallel composition and the simulation results displayed that this method allows the supervisors to achieve a free collision in normal environments.…”

Section: Introductionmentioning

confidence: 99%

Robust Team Formation Control for Quadrotors

Jasim

2018

IEEE Trans. Contr. Syst. Technol.

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In this work, we compare between H∞ and Integral Backstepping (IBS) controllers, while they applied to a leaderfollower formation problem of quadrotors. The controllers were used to control the quadrotors with external disturbances and model parameter uncertainties consideration. Nonlinear H∞ design approach is introduced for a general nonlinear affine system to derive a robust controller by solving a Hamilton-Jacobi inequality. Then robustness conditions of the proposed controller are derived via selecting an appropriate parametrised Lyapunov function. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. IBS controller is derived and the stability analysis is achieved via Lyapunov function. Simulation results show a good performance for both controllers in normal circumstance and H∞ controller perform much better than IBS controller in disturbances circumstance. Experimental results of using H∞ controller show its stability and robustness against the disturbances.

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Decentralized hybrid formation control of Unmanned Aerial Vehicles

Cited by 16 publications

References 30 publications

Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control

Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control

Assume-guarantee cooperative satisfaction of multi-agent systems

Robust Team Formation Control for Quadrotors

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