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Trajectory design and control for aggressive formation flight with quadrotors

Authors:

Matthew Turpin,

Nathan Michael,

Vijay KumarAuthors Info & Claims

Autonomous Robots, Volume 33, Issue 1-2

Pages 143 - 156

https://doi.org/10.1007/s10514-012-9279-y

Published: 01 August 2012 Publication History

Abstract

In this work we consider the problem of controlling a team of micro-aerial vehicles moving quickly through a three-dimensional environment while maintaining a tight formation. The formation is specified by shape vectors which prescribe the relative separations and bearings between the robots. To maintain the desired shape, each robot plans its trajectory independently based on its local information of other robot plans and estimates of states of other robots in the team. We explore the interaction between nonlinear decentralized controllers, the fourth-order dynamics of the individual robots, time delays in the network, and the effects of communication failures on system performance. Simulations as well as an experimental evaluation of our approach on a team of quadrotors suggests that suitable performance is maintained as the formation motions become increasingly aggressive and as communication degrades.

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Cited By

Zheng YZheng CShen JLiu PZhao S(2024)Keypoint-Guided Efficient Pose Estimation and Domain Adaptation for Micro Aerial VehiclesIEEE Transactions on Robotics10.1109/TRO.2024.340093840(2967-2983)Online publication date: 14-May-2024
https://dl.acm.org/doi/10.1109/TRO.2024.3400938
Nayak SChoi KDing WDolan SGopalakrishnan KBalakrishnan HKrause ABrunskill ECho KEngelhardt BSabato SScarlett J(2023)Scalable multi-agent reinforcement learning through intelligent information aggregationProceedings of the 40th International Conference on Machine Learning10.5555/3618408.3619482(25817-25833)Online publication date: 23-Jul-2023
https://dl.acm.org/doi/10.5555/3618408.3619482
Quan LYin LZhang TWang MWang RZhong SZhou XCao YXu CGao F(2023)Robust and Efficient Trajectory Planning for Formation Flight in Dense EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.330129539:6(4785-4804)Online publication date: 1-Dec-2023
https://dl.acm.org/doi/10.1109/TRO.2023.3301295
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Trajectory design and control for aggressive formation flight with quadrotors
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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Published In

cover image Autonomous Robots

Autonomous Robots Volume 33, Issue 1-2

August 2012

211 pages

ISSN:0929-5593

Issue’s Table of Contents

Copyright © Copyright © 2012 Springer Science+Business Media, LLC.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 August 2012

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Cited By

Zheng YZheng CShen JLiu PZhao S(2024)Keypoint-Guided Efficient Pose Estimation and Domain Adaptation for Micro Aerial VehiclesIEEE Transactions on Robotics10.1109/TRO.2024.340093840(2967-2983)Online publication date: 14-May-2024
https://dl.acm.org/doi/10.1109/TRO.2024.3400938
Nayak SChoi KDing WDolan SGopalakrishnan KBalakrishnan HKrause ABrunskill ECho KEngelhardt BSabato SScarlett J(2023)Scalable multi-agent reinforcement learning through intelligent information aggregationProceedings of the 40th International Conference on Machine Learning10.5555/3618408.3619482(25817-25833)Online publication date: 23-Jul-2023
https://dl.acm.org/doi/10.5555/3618408.3619482
Quan LYin LZhang TWang MWang RZhong SZhou XCao YXu CGao F(2023)Robust and Efficient Trajectory Planning for Formation Flight in Dense EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.330129539:6(4785-4804)Online publication date: 1-Dec-2023
https://dl.acm.org/doi/10.1109/TRO.2023.3301295
Kim TJeaong HKim SKim IKim SSuk JShin H(2023)Design and Flight Testing of the Ducted-fan UAV Flight Array SystemJournal of Intelligent and Robotic Systems10.1007/s10846-023-01821-6107:3Online publication date: 24-Feb-2023
https://dl.acm.org/doi/10.1007/s10846-023-01821-6
Fu LMao RYang YYang Y(2022)A Formation Maintenance Method of UAV Swarm under Wind DisturbancesProceedings of the 14th International Conference on Computer Modeling and Simulation10.1145/3547578.3547603(160-167)Online publication date: 24-Jun-2022
https://dl.acm.org/doi/10.1145/3547578.3547603
Su YLanzon A(2022)Formation-containment tracking and scaling for multiple quadcopters with an application to choke-point navigation2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9812172(4908-4914)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9812172
Quan LYin LXu CGao F(2022)Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9812050(4979-4985)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9812050
Heintz CHoagg J(2022)Formation Control in a Leader-Fixed Frame for Agents with Extended Unicycle Dynamics that Include Orientation Kinematics on SO(m)2019 IEEE 58th Conference on Decision and Control (CDC)10.1109/CDC40024.2019.9029431(8230-8235)Online publication date: 28-Dec-2022
https://dl.acm.org/doi/10.1109/CDC40024.2019.9029431
Yu GCabecinhas DCunha RSilvestre C(2022)Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and trackingAutonomous Robots10.1007/s10514-022-10035-y46:4(499-513)Online publication date: 1-Apr-2022
https://dl.acm.org/doi/10.1007/s10514-022-10035-y
Do HTruong LNguyen MChien CTran HHua HNguyen CNguyen HNguyen N(2021)Energy-Efficient Unmanned Aerial Vehicle (UAV) Surveillance Utilizing Artificial Intelligence (AI)Wireless Communications & Mobile Computing10.1155/2021/86153672021Online publication date: 1-Jan-2021
https://dl.acm.org/doi/10.1155/2021/8615367
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