Piecewise constant model predictive control for autonomous helicopters

Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

“…The MPC approach is often used for stabilizing nonlinear systems with control constraints. In [12] and [13] it was shown, that the computational power of microprocessors available onboard of unmanned helicopters enables to employ MPC techniques also for the formation control of such a high dynamic systems, similarly as it is proposed here.…”

“…Beside the methods of the formation driving for UGVs, we should mention few approaches designed for UAVs [11], [12], [13], [14]. In [11], the formation stabilization and keeping in the desired shape are treated as a dynamic 3D tracking problem, where the relative geometry of multiple UAVs is kept via a cascade-type guidance low under the leader-follower concept.…”

“…In [11], the formation stabilization and keeping in the desired shape are treated as a dynamic 3D tracking problem, where the relative geometry of multiple UAVs is kept via a cascade-type guidance low under the leader-follower concept. A leader-follower approach for stabilization of helicopter's formations using a nonlinear model predictive control is proposed in [12] and optimized for on-line embedded solution enabling a response to the fast dynamic of UAVs in [13]. In [14], the formation stabilization of vertical take-off and landing unmanned aerial vehicles in presence of communication delays is addressed.…”

“…The above mentioned techniques are suited for utilization of robots under a precise external global localization system (for example approaches [13] are verified with the VICON system), for UGV formations they often rely on a dead reckoning with its cumulative error [8] or they provide theoretical solutions verified only by simulations [4], [5], [7], [9], [10], [11], [12], [14], where a known position of robots may be assumed. In our work, the necessity of utilization of on-board systems for robots' localization and navigation is inherently included in the essence of the formation driving approach.…”

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

“…We do not rely on following a given trajectory, as in most of the state-of-the-art methods [45], [46], [47]. We propose to integrate the stabilization of followers in the desired positions behind the leader together with the trajectory planning into a desired goal area with obstacle avoidance ability for the entire formation.…”