Formation control and coordination of multiple unmanned ground vehicles in normal and faulty situations: A review

Kamel, Mohamed A.; Yu, Xiang; Zhang, Youmin

doi:10.1016/j.arcontrol.2020.02.001

Cited by 128 publications

(41 citation statements)

References 117 publications

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“…In formation flight of multiple UAVs, actuator faults have adverse impacts on the safety of the individual UAV but also induce the instability of the overall networked UAVs [16]- [17]. To avoid the catastrophes induced by the actuator faults, the fault-tolerant cooperative control (FTCC) is progressively investigated for multiple UAVs in recent years, where following the two-layer control structure of distributed UAV system in Fig.…”

Section: Flight Tasksmentioning

confidence: 99%

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Zhang

Sun

et al. 2022

IEEE Trans. Veh. Technol.

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Section: Flight Tasksmentioning

confidence: 99%

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Zhang

Sun

et al. 2022

IEEE Trans. Veh. Technol.

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“…And formation control is considered a special type of cooperative control. According to [16,17], formation is the network in which the agents in the network have solidated relationships with their neighbors. The formation control is defined as the cooperative control in which the agents must retain the specific topology with relative distances to the neighbor agents.…”

Section: Problem Of Formation Controlmentioning

confidence: 99%

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

T.¹,

Hua²,

Nguyen³

et al. 2021

EAI Endorsed Transactions on Industrial Networks and Intelligen

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Unmanned aerial vehicles (UAVs) have been widely deployed in many applications such as transportation, data collection, monitoring, or tracking objects. Nowadays, numerous missions require UAVs to operate in a large area or to complete missions in a stringent period of time. Using a single UAV may not meet the performance requirements because of its small size and limited battery. In this situation, multiple Unmanned Aerial Vehicles (UAVs) have emerged as an effective measure that can address these limitations. A group of UAVs cooperatively working together could offer a solution that is more efficient and economical than using a powerful UAV alone. To better utilizing the multiple-UAVs system, control of formation UAVs is a critical challenge that needs to overcome. Therefore, formation control has become an active research topic that gains great attention from researchers. Extensive research efforts have been dedicated to studying the formation control problem with numerous control protocols which have been proposed. This paper reviews the profound studies on formation control in literature. Each approach is investigated based on different criteria, which highlights its distinct merits and demerits. The comparison is provided to facilitate the readers in their future researches in the field of formation control. Finally, some open challenges and research directions are also discussed.

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“…The vehicles in the platoon are regarded as intelligent units, and the dynamic platoon system is coupled through the cooperative control of the intelligent units. A recent study by Kamel et al [13] pointed out that the formation control strategy of agents can be divided into five types based on different research methods: the virtual structure strategy, the behavior-based strategy, the leader-follower strategy, the graph-based strategy and the artificial potential field strategy. According to the characteristics of each strategy, Table 1 summarizes the functions that each strategy can achieve during the formation process.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Thus, the definition of the SV based on safety potential field theory is actually modeling the impact of the complex driving environment on the vehicle. The velocity-based slack variable in the lateral direction SV s can be defined as the lateral velocity control expression in Equation (13) to achieve the speed optimization of the individual vehicles in the platoon.…”

Section: Platoon Formation Control Modelmentioning

confidence: 99%

A Novel Graph and Safety Potential Field Theory-Based Vehicle Platoon Formation and Optimization Method

Gan

et al. 2021

Applied Sciences

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Platooning is considered to be a very effective method for improving traffic efficiency, traffic safety and fuel economy under the connected and automated environment. The prerequisite for realizing these advantages is how to form a platoon without any collisions and how to maintain and optimize the car-following behavior after platoon formation. However, most of the existing studies focus on the platoon configuration and information transmission method, while only a few attempt to address the issue of platoon formation and optimization methods. To this end, this study proposes a novel platoon formation and optimization model combining graph theory and safety potential field (G-SPF) theory for connected and automated vehicles (CAVs) under different vehicle distributions. Compared to previous studies, we innovatively incorporate the concept of the safety potential field to better describe the actual driving risk of vehicles and ensure their absolute safety. A four-step platoon formation and optimization strategy is developed to achieve platoon preliminary formation and platoon driving optimization control. Three traffic scenarios with different CAVs distributions are designed to verify the effectiveness of our proposed platoon formation method based on G-SPF theory, and the simulation results indicate that a collision-free platoon can be formed in a short time. Additionally, the G-SPF-based platoon driving optimization control method is demonstrated by comparing it with two typical control strategies. Compared with the constant spacing and constant time headway control strategies, the simulation results show that our proposed method can improve the traffic capacity by approximately 48.8% and 26.6%, respectively.

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Formation control and coordination of multiple unmanned ground vehicles in normal and faulty situations: A review

Cited by 128 publications

References 117 publications

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

A Novel Graph and Safety Potential Field Theory-Based Vehicle Platoon Formation and Optimization Method

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