This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case studies: 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 paths; the vehicles are then tasked to execute cooperative path following, rather than “open-loop” trajectory tracking. This cooperative strategy yields robust behavior against external disturbances by allowing the UAVs to negotiate their speeds along the paths in response to information exchanged over a supporting communications network.


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    Titel :

    Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies


    Beteiligte:
    Choukroun, Daniel (Herausgeber:in) / Oshman, Yaakov (Herausgeber:in) / Thienel, Julie (Herausgeber:in) / Idan, Moshe (Herausgeber:in) / Kaminer, Isaac (Autor:in) / Xargay, Enric (Autor:in) / Cichella, Venanzio (Autor:in) / Hovakimyan, Naira (Autor:in) / Pascoal, António Manuel (Autor:in) / Aguiar, A. Pedro (Autor:in) ... [mehr]

    Kongress:

    Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control ; 2012 ; Haifa, Israel October 14, 2012 - October 17, 2017


    Erschienen in:

    Erscheinungsdatum :

    01.01.2015


    Format / Umfang :

    25 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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