Coordinated autonomous vehicle formations: Decentralization, control synthesis and optimization

Proceedings of the American Control Conference

Volumn 2006, Issue , 2006, Pages 2022-2027

  Keviczky, Tamás ^a   Fregene, Kingsley ^b   Borrelli, Francesco ^c   Balas, Gary J ^a   Godbole, Datta ^b  

^a University of Minnesota   (United States)

^b HONEYWELL TECHNOLOGY CENTER   (United States)

^c UNIVERSITY OF SANNIO   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS AGENTS; DECENTRALIZED CONTROL; GRAPH THEORY; MATHEMATICAL MODELS; OPTIMIZATION; SET THEORY; VEHICLES;

AUTONOMOUS CONTROL; CONFLICT FREE TRAJECTORIES; CONTROL SYNTHESIS; HORIZON CONTROLLERS;

INTELLIGENT CONTROL;

EID: 34047229693     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (24)

1. W. Ren and R. Beard, "A decentralized scheme for spacecraft formation flying via the virtual structure approach," AIAA J. of Guidance, Control and Dynamics, vol. 27, no. 1, pp. 73-82, Jan. 2004.
2. J. D. Wolfe, D. F. Chichka, and J. L. Speyer, "Decentralized controllers for unmanned aerial vehicle formation flight," in AIAA Guidance, Navigation, and Control Conf., 1996.
3. G. Inalhan, D. M. Stipanovic, and C. J. Tomlin, "Decentralized optimization, with application to multiple aircraft coordination," in Proc. 41st IEEE Conf. on Decision and Control, 2002.
4. D. Stipanovic, G. Inalhan, R. Teo, and C. J. Tomlin, "Decentralized overlapping control of a formation of unmanned aerial vehicles," Automatica, vol. 40, no. 8, pp. 1285-1296, 2004.
5. A. Richards, J. Bellingham, M. Tillerson, and J. P. How, "Coordination and control of multiple uavs," in AIAA Guidance, Navigation, and Control Conf., 2002.
6. D. Shim, H. Kim, and S. Sastry, "Decentralized reflective model predictive control of multiple flying robots in dynamic enviroment," Department of Electical Engineering and Computer Sciences. University of California at Berkeley, Tech. Rep., 2003.
7. W. B. Dunbar and R. M. Murray, "Model predictive control of coordinated multi-vehicle formation," in Proc. 41st IEEE Conf on Decision and Control, 2002.
8. F. Giulietti, L. P. L., and M. Innocenti, "Autonomous formation flight," IEEE Control Systems Magazine, vol. 20, no. 6, pp. 34-44, 2000.
9. A. Richards and J. P. How, "Aircraft trajectory planning with collision avoidance using mixed integer linear programming," in Proc. American Contr. Conf., 2002.
10. A. Raghunathan, V. Gopal, D. Subramanian, L. Biegler, and T. Samad, "Dynamic optimization strategies for three-dimensional conflict resolution of multiple aircraft," AIAA J. of Guidance, Control, and Dynamics, vol. 27, no. 4, pp. 586-594, 2004.
11. F. Borrelli, D. Subramanian, A. U. Raghunathan, L. T. Biegler, and T. Samad, "Mixed integer programming and nonlinear programming techniques for 3D conflict resolution of multiple aircraft," in Proc. American Contr. Conf., 2006.
12. T. Keviczky, F. Borrelli, and G. J. Balas, "A study on decentralized receding horizon control for decoupled systems," in Proc. American Contr. Conf., 2004.
13. _, "Stability analysis of decentralized RHC for decoupled systems," in Proc. 44th IEEE Conf. on Decision and Control, and European Control Conf., 2005.
14. T. Keviczky, "Decentralized receding horizon control of large scale dynamically decoupled systems," Ph.D. dissertation, Control Science and Dynamical Sys. Center, Univ. of Minnesota, Minneapolis, 2005.
15. D. Enns, D. Bugajski, R. Hendrick, and G. Stein, "Dynamic inversion: an evolving methodology for flight control design," Int. J. Control, vol. 59, no. 1, pp. 71-91, Jan. 1994.
16. D. Mayne, J. Rawlings, C. Rao, and P. Scokaert, "Constrained model predictive control: Stability and optimality," Automatica, vol. 36, no. 6, pp. 789-814, June 2000.
17. W. B. Dunbar and R. M. Murray, "Receding horizon control of multivehicle formations: A distributed implementation," in Proc. 43rd IEEE Conf. on Decision and Control, 2004.
18. E. Camponogara, D. Jia, B. Krogh, and S. Talukdar, "Distributed model predictive control," IEEE Control Systems Magazine, Feb. 2002.
19. A. Richards and J. How, "A decentralized algorithm for robust constrained model predictive control," in Proc. American Contr. Conf., 2004.
20. T. Keviczky, B. Vanek, F. Borrelli, and G. J. Balas, "Hybrid decentralized receding horizon control of vehicle formations," in Proc. American Contr. Conf., 2006.
21. F. Borrelli, T. Keviczky, G. J. Balas, G. Stewart, K. Fregene, and D. Godbole, "Hybrid decentralized control of large scale systems," in Hybrid Systems: Computation and Control, ser. Lecture Notes in Computer Science. Springer Verlag, Mar. 2005.
22. F. Borrelli, T. Keviczky, and G. J. Balas, "Collision-free UAV formation flight using decentralized optimization and invariant sets," in Proc. 43rd IEEE Conf. on Decision and Control, 2004.
23. E. C. Kerrigan, "Robust constraint satisfaction: Invariant sets and predictive control," Ph.D. dissertation, Department of Engineering, University of Cambridge, Cambridge, England, 2000.
24. http://www.aem.umn.edu/people/students/keviczky/Simulations.html.