By Topic

Hybrid system design for formations of autonomous vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Zelinski, S. ; Aerosp. Oper. Modelling, NASA Ames Res. Center, Moffett Field, CA, USA ; Koo, T.J. ; Sastry, S.

Cooperative control of multiple unmanned aerial vehicles (UAVs) poses significant theoretical and technical challenges. Recent advances in sensing, communication and computation enable the conduct of cooperative multiple-UAV missions deemed impossible in the recent past. We are interested in solving the Formation Reconfiguration Planning (FRP) problem which is focused on determining a nominal state and input trajectory for each vehicle such that the group can start from the given initial configuration and reach its given final configuration at the specified time while satisfying a set of given inter- and intra- vehicle constraints. Each solution of a FRP problem represents a distinct reconfiguration mode. When coupled with formation keeping modes, they can form a hybrid automaton of formation maneuvers in which a transition from one formation maneuver to another formation maneuver is governed by a finite automaton. This paper focuses on the implementation of the optimized hybrid system approach to formation reconfiguration for a group of 1 real and 3 virtual UAVs. Experimental results performed in the Richmond Field Station by using a helicopter-based Berkeley Aerial Robot are presented.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:1 )

Date of Conference:

9-12 Dec. 2003