Decentralized cooperative control of heterogeneous vehicle groups

Authors:
H. G. Tanner;D. K. Christodoulakis
Affiliations:
University of New Mexico, Department of Mechanical Engineering, Albuquerque, NM 87131-0001, USA;University of New Mexico, Department of Mechanical Engineering, Albuquerque, NM 87131-0001, USA
Venue:
Robotics and Autonomous Systems
Year:
2007

Citing 1
Cited 6

Matrix analysis

Matrix analysis

A model predictive controller for robots to follow a virtual leader

Robotica
Technical communique: Forced consensus in networks of double integrator systems with delayed input

Automatica (Journal of IFAC)
On the potential contributions of hybrid intelligent approaches to Multicomponent Robotic System development

Information Sciences: an International Journal
Automatic generation of optimally rigid formations using decentralized methods

International Journal of Automation and Computing
Decentralized control of a group of mobile robots for deployment in sweep coverage

Robotics and Autonomous Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

We coordinate in discrete time the interaction of two heterogeneous groups of mobile agents: a group of ground vehicles (ugvs) and a group of aerial vehicles (uavs). The ground agents interact with each other through time-invariant, nearest-neighbour rules. They synchronize their velocities through a specific communication protocol, and maintain cohesion and separation behaviour by means of interagent potential forces. Ground vehicles estimate their formation's centroid using only locally available delayed information. That same information is transmitted to the aerial group, which orbits above the ground formation's centroid, while avoiding midair collisions. Stability of the ground group motion is established in a Lyapunov framework. A Lyapunov analysis is also used to ensure that uavs track the ground group's centroid.