Resilient multi-UAS coordination using cooperative localization

Harshvardhan, Uppaluru,; Emadi, Hamid; Rastgoftar, Hossein

doi:10.1016/j.ast.2022.107960

Cited by 6 publications

(2 citation statements)

References 25 publications

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“…Note that two different agents 𝑖 ∈ V 𝑙 and 𝑗 ∈ V 𝑙 do not collide if: (i) they are properly distanced in the reference configuration; and (ii) their desired trajectories can be stably tracked by the on-board tracking (position) controller. Furthermore, every agent 𝑖 ∈ V 𝑙 can avoid inter-agent collision and hitting V𝑙 's agents when it slides along level curve 𝜓 𝑙 (𝑥 𝑖 , 𝑦 𝑖 , 𝜃 𝑙 (𝑡), 𝑡) = ψ𝑖,𝑙 (𝑡) constant [26]. Therefore, the tangent vector to the desired sliding path of agent 𝑖 ∈ V 𝑙 is obtained by…”

Section: Methodsmentioning

confidence: 99%

“…We have recently developed a physics-based automation to safely plan large-scale coordination of multi-agent systems in the presence of disturbances and unforeseen failure(s) [24]- [26]. The proposed automation consists of two operation mode that include Homogeneous Deformation Mode (HDM) and Failure Resilient Mode (FRM), where: HDM activates when all agents are healthy; FRM commands when there exists at least one noncooperative/faulty agent.…”

Section: A Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Experimental Evaluation of Multi-Agent System Collision-Free Coordination Using Ideal Fluid-Flow Models

Rastgoftar¹,

Harshvardhan²,

Ghuran³

et al. 2023

Preprint

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Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and effectiveness of the entire system. Therefore, it is important to design and implement multi-agent systems with a high level of reliability to ensure that they can operate safely and move smoothly in the presence of unforeseen agent failure or lack of communication with some agent teams moving in a shared motion space. This paper presents a novel fluid flow navigation model that, in an ideal fluid flow, divides agents into cooperative (non-singular) and noncooperative (singular) agents, with cooperative agents sliding along streamlines safely enclosing noncooperative agents in a shared motion space. A series of flight experiments utilizing crazyflie quadcopters will experimentally validate the suggested model.

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Section: Methodsmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%