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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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



    Conference:

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



    Publication date :

    2015-01-01


    Size :

    25 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Vision-based Cooperative Moving Path Following for Fixed-Wing UAVs

    Felix, Miguel / Oliveira, Tiago / Cruz, Goncalo et al. | IEEE | 2023


    A Survey of Cooperative Path Planning for Multiple UAVs

    Sun, Wendi / Hao, Mingrui | TIBKAT | 2022


    Null-space-based path-following control for cooperative payload transport using multiple rotorcraft UAVs

    Salinas, Lucio R. / Gimenez, Javier / Rosales, Claudio et al. | IEEE | 2018


    A Survey of Cooperative Path Planning for Multiple UAVs

    Sun, Wendi / Hao, Mingrui | Springer Verlag | 2022