Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies
Loading...
Authors
Kaminer, I.I.
Xargay, E.
Cichella, V.
Hovakimyan, N.
Pascoal, A.M.
Aguiar, A.P.
Dobrokhodov, V.
Ghabcheloo, R.
Subjects
Advisors
Date of Issue
2013
Date
2013
Publisher
Language
Abstract
This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case stud- ies: a simultaneous arrival mission scenario and a sequential auto-landing of a fleet of UAVs. In the adopted setup, the UAVs are assigned nominal spatial paths and speed profiles along those, and the vehicles are then tasked to execute co- operative path following, rather than “open-loop” trajectory-tracking maneuvers. This cooperative strategy yields robust behavior against external disturbances by allowing the UAVs to negotiate their speeds along the paths in response to coordi- nation information exchanged over the supporting communications network. The approach applies to teams of heterogeneous vehicles and does not necessarily lead to swarming behavior.
Type
Article
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Kaminer I.I., Xargay E., Cichella V., Hovakimyan N., Pascoal A.M., Aguiar A.P., Dobrokhodov V., Ghabcheloo R., ”Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies,” Journal of proceedings of Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control, BarSym – Springer Edited Book Manuscript, 2013.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.