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In this work, the authors propose a formation control strategy of a group of three multirotor aerial vehicles being able to avoid multiple obstacles and collisions. To deal with this problem, a decentralized architecture is proposed which has one model predictive controller per vehicle including a set of convex constraints on the vehicle’s position to prevent collisions with other agents and different...
This paper treats the problem of position formation flight control of a group of three multirotor aerial vehicles under obstacle and collision avoidance constraints. In order to solve the problem, a distributed architecture with model predictive controllers for each vehicle includes a set of convex constraints on the vehicles’s position to prevent collisions with other vehicles and obstacles. The...
Among the main sub-areas covering the cooperative control problem of Unmanned Aerial Vehicles (UAVs), formation flight has attracted great interest and has been widely investigated. The main purpose of the formation flight control is to establish a desired shape of formation for a group of vehicles by controlling the positions of each vehicle. The present paper deals with the problem of position formation...
This paper presents a methodology for system prognosis based on indicative parameter time series of the equipment condition. The time series is divided in different candidate scenarios according to modifications on exogenous variables that represent external environmental conditions. Each valid scenario is associated with a specific progression model built based on ARIMA time series analysis approach...
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