Decentralized cooperative control of heterogeneous vehicle groups
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Brief paper: Finite-time formation control for multi-agent systems
Automatica (Journal of IFAC)
From fireflies to fault-tolerant swarms of robots
IEEE Transactions on Evolutionary Computation
Fault-tolerant formations of mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Formation path following control of unicycle-type mobile robots
Robotics and Autonomous Systems
Model Predictive Control of a Flexible Links Mechanism
Journal of Intelligent and Robotic Systems
Multi-Agent Formation Control Based on Bell-Shaped Potential Functions
Journal of Intelligent and Robotic Systems
Simple yet stable bearing-only navigation
Journal of Field Robotics - Visual Mapping and Navigation Outdoors
Piecewise constant model predictive control for autonomous helicopters
Robotics and Autonomous Systems
Robust Formation Control of Multiple Wheeled Mobile Robots
Journal of Intelligent and Robotic Systems
Formation control of VTOL Unmanned Aerial Vehicles with communication delays
Automatica (Journal of IFAC)
Practical Formation Control of Multiple Unicycle-Type Mobile Robots with Limited Sensing Ranges
Journal of Intelligent and Robotic Systems
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
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A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper.