Distributed Cohesive Motion Control of Flight Vehicle Formations

Bayezit, İsmail; Fi̇dan, Barış

doi:10.1109/tie.2012.2235391

Cited by 181 publications

(76 citation statements)

References 28 publications

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“…These application domains include exploration [2], [3], vehicle formation control [4]- [6], cooperative surveillance [7], and target tracking [8]. The multirobot task allocation (MRTA) problem is one of the important research areas in multirobot systems.…”

Section: Introductionmentioning

confidence: 99%

Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems

Lee

Zaheer

Kim

2014

IEEE Trans. Ind. Electron.

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The objective of multirobot task allocation (MRTA) is to assign tasks to robots to minimize the overall cost of task performance. This paper proposes a decentralized MRTA approach considering the robots' residual expendable resources and their limited communication ranges. The proposed approach consists of two algorithms, namely, resource-aware cost generation (RCG) and ad hoc network-based task allocation (ANTA). The RCG algorithm allows each robot to generate a credible cost of task performance considering its residual resources in task planning. The ANTA algorithm constructs the minimal spanning tree network among the robots and determines the robot with the lowest cost for the task through multihop communication in a decentralized manner. The advantages of the proposed approach are minimization of unnecessary task performance cost caused by resource shortage of robots during task execution and the use of an ad hoc network among the robots to allow more robots to participate in the task allocation process. The effectiveness of the proposed approach is demonstrated through computer simulations for multirobot foraging as a test problem.Index Terms-Ad hoc network-based task allocation (ANTA), decentralized task allocation, multirobot systems, resource-aware cost generation (RCG).

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Section: Introductionmentioning

confidence: 99%

Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems

Lee

Zaheer

Kim

2014

IEEE Trans. Ind. Electron.

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“…Therefore, the ith agent behavior can be described by (6) which means that each agent pursues its front agent with angular velocity in a regular polygon formation around the centroid x c y c , and the proof is completed.…”

Section: Cyclic Pursuit In Kinematics Levelmentioning

confidence: 99%

Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Rezaee

Abdollahi

2015

IEEE Trans. Ind. Electron.

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This paper deals with cyclic pursuit of doubleintegrator multiagent systems in regular polygon formations. In kinematics level, based on a leaderless architecture, each agent pursues another one in a regular polygon formation with cyclic pursuit around a centroid. Then, in dynamics level, the agents reach consensus on a centroid around which they pursue each other. Despite introduced cyclic pursuit approaches in the literature based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Moreover, based on the proposed approach, it is feasible to control the cyclic pursuit angular velocity. Numerical simulations for a multiagent system including seven agents confirm the usefulness of the proposed formation control strategy.

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“…Under the control law (4), the multiagent system (3) with disturbances (2) can be written in the vector form as…”

Section: Output Consensus Of Heterogeneous Multiagent Systems Wimentioning

confidence: 99%

“…Various cooperative control techniques have been developed for multiagent systems. In particular, many of those techniques have been developed for consensus of multiagent systems and they have been widely applied to solve many practical control problems such as formation of unmanned aerial vehicles [1], [2], attitude control of multisatellite systems [3], [4], information processing of sensor networks [5], [6], and so on.…”

Section: Introductionmentioning

confidence: 99%

Output Consensus of Heterogeneous Linear Discrete-Time Multiagent Systems With Structural Uncertainties

Feng

Luo

et al. 2015

IEEE Trans. Cybern.

113

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This paper investigates the output consensus problem of heterogeneous discrete-time multiagent systems with individual agents subject to structural uncertainties and different disturbances. A novel distributed control law based on internal reference models is first presented for output consensus of heterogeneous discrete-time multiagent systems without structural uncertainties, where internal reference models embedded in controllers are designed with the objective of reducing communication costs. Then based on the distributed internal reference models and the well-known internal model principle, a distributed control law is further presented for output consensus of heterogeneous discrete-time multiagent systems with structural uncertainties. It is shown in both cases that the consensus trajectory of the internal reference models determines the output trajectories of agents. Finally, numerical simulation results are provided to illustrate the effectiveness of the proposed control schemes.

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Distributed Cohesive Motion Control of Flight Vehicle Formations

Cited by 181 publications

References 28 publications

Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems

Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems

Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Output Consensus of Heterogeneous Linear Discrete-Time Multiagent Systems With Structural Uncertainties

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