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2007

Decentralized cooperative control of heterogeneous vehicle groups

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Decentralized cooperative control of heterogeneous vehicle groups
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, nearestneighbor rules. They synchronize their velocities through a specific communication protocol, and maintain cohesion and separation behavior by means of inter-agent 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. Key words: Cooperative control, Agents and autonomous systems, Autonomous robots
Herbert G. Tanner, D. K. Christodoulakis
Added 28 Dec 2010
Updated 28 Dec 2010
Type Journal
Year 2007
Where RAS
Authors Herbert G. Tanner, D. K. Christodoulakis
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