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Three-Dimensional Motion Coordination in a Spatiotemporal Flowfield

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2 Author(s)
Hernandez, S. ; Dept. of Aerosp. Eng., Univ. of Texas at Austin, Austin, TX, USA ; Paley, D.A.

Decentralized algorithms to stabilize 3-D formations of unmanned vehicles in a flowfield that varies in space and time have applications in environmental monitoring in the atmosphere and ocean. In this note, we provide a Lyapunov-based control design to steer a system of self-propelled particles traveling in three dimensions at a constant speed relative to a spatiotemporal flowfield. We assume that the flow is known locally to each particle and that it does not exceed the particle speed. Multiple particles can be steered to form 3-D parallel or helical formations in a flowfield. Also presented are motion coordination results for a special case of the 3-D model in which the particles travel in a circular formation on the surface of a rotating sphere.

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Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 12 )