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This paper proposes a decentralized control strategy to assign tasks to Autonomous Guided Vehicles (AGV) and coordinate their paths to avoid deadlock and collisions. We consider a zone-controlled guidepath network where a set of intelligent vehicles (agents) has to autonomously reach a consensus about the distribution of a set of tasks, i.e., a set of zones to be reached. To this aim the agents apply...
In this paper we present a prototype system that aids the operator of a Personal Air Vehicle (PAV) by actively monitoring vehicle surroundings and providing autonomous control inputs for obstacle avoidance. The prototype is developed for a Personal Air Transportation System (PATS) that will enable human operators with low level of technical knowledge to use aerial vehicles for a day-to-day commute...
The paper proposes controllers for a multi-Quad system that flies in a tight rigid formation. The considered model of the aerial vehicle are highly nonlinear. We propose a control strategy for avoiding collision between neighboring vehicles. The collision avoidance strategy applies in particular the flatness property of the considered system. Simulation results which demonstrate the controller effectivness,...
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...
Formation control is concerned with the problem of arranging or rearranging agents into a target configuration (such as a line or surface of a sphere) while preserving threshold distances that enable communication and avoid collisions. In this work, a decentralized algorithm for formation control of a multi vehicle fault-tolerant system is proposed. By using computational geometry techniques, a novel...
In this paper, a team of cooperative Unmanned Aerial Vehicles (UAVs) maintains a desired geometrical formation while tracking a reference trajectory using a new control approach. Decentralized Learning Based Model Predictive Control (DLBMPC) is a new control technique that combines statistical learning along with control engineering while providing guarantees on safety, robustness and convergence...
This paper presents a system for collision-free trajectory planning with multiple Unmanned Aerial Vehicles (UAVs) which automatically identifies conflicts among them. After detecting conflicts between UAVs, the system resolves them cooperatively using a collision-free trajectory planning algorithm based on a stochastic optimization technique named Particle Swarm Optimization (PSO). The new implementation...
A novel approach for stabilization and navigation of swarms of Micro Aerial Vehicles (MAVs) along a predefined path through a complex environment with obstacles is introduced in this paper. The method enables to control large MAV swarms (in literature also called UAV swarms) based only on onboard sensors and without any inter-vehicle communication. The proposed method relies on visual localization...
Safety at non-signalized intersections is of significant importance to transportation safety study due to the large number of such intersections in transportation network and the complexity of traffic movements at these locations also leads to large numbers of conflicts. This study designed a collision scenario by using driving simulator to investigate the drivers' behavior performance at non-signalized...
Stereo vision has been used in many different applications such as robot, entertainment, and car electronics. Disparity-based distance estimation requires a large amount of computational resources because of high block-matching computations, especially on the high-resolution image pair. In this paper, we propose an algorithm for computing the distance between our own driving car and the front car...
Motor vehicle collisions are the leading cause of death in the Unites States. Rear-end crashes alone occur approximately 1.6 million times each year [1]. These statistics demonstrate the obvious need to reduce the number of vehicle collisions and save lives. In response, the government, automobile industry, and academia have conducted intensive research in an effort to enhance the safety in the U...
This paper proposes a method for controlling a team of quadrotor micro aerial vehicles to perform agile maneuvers while holding a fixed relative formation, as well as transitioning between a sequence of formations. The objective is to coordinate the quadrotors to fly in intricate interlaced patterns, similarly to an air show demonstration team. The paper proposes a new abstraction, called a Virtual...
Weakly electric fish use a navigational technique called electrolocation to investigate their surroundings for predator, prey and obstacles. Obstacles and other global stimuli are perceived as perturbations to the fish's self-generated electric field, which provide relevant navigational cues to the fish. In this work a control strategy based on electrolocation for performing obstacle avoidance in...
In the recent years, Autonomous Guided Vehicles (AGVs) are gradually integrated to warehouse management systems. The employment of AGVs has numerous advantages over conventional warehouse systems in terms of cost, scalability and efficiency. In this work, we present the development of a small-scale test-bed platform for testing and validating warehouse automation control algorithms utilizing a swarm...
In this paper, a problem how multiple intercepting flight vehicles intercept a high-speed maneuvering target is considered. Due to the uncertainties of the target caused by the background noises and low detection accuracy of the intercepting flight vehicles, we use a dynamic distribution to describe the location of target. Therefore, the cooperative intercepting problem is transformed into a problem...
The need for the transfer of robotic technology from the research laboratories to civilian applications is now a major issue for the robotic community. In the field of marine robotics is particularly important to endow the robot with a safe and highly reliable Navigation Guidance and Control (NGC) system which enables the Unmanned Surface Vehicle (USV) to safely navigate even in presence of human...
In this paper, an approach for a collision avoidance system for small Unmanned Surface Vehicles (USV) is presented. These kind of USVs are typically used for measuring tasks and thus, the collision avoidance algorithm has to take the mission objective and information about obstacles and other vessels into account. It generates an evasive trajectory that either leads around the obstacle, reduces the...
We present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of...
Though multi-agent formation and consensus have been studied intensively recently, very few of the research focuses on their engineering realization using rotor-craft unmanned air vehicle (UAV) as the basic platform. Some assumptions in many theoretical study present challenges in engineering realization, such as the over-simplified dynamic model or sensor model of each agent. In this paper, we present...
Aerial hovering vehicles represent application of non-linear devices in real environment. Controls of such devices are difficult due to instability in certain states of operation. Operating such device requires skills, and such knowledge of skills are even hard to develop as autonomous control system. In this research, a Compound Learning Control System for autonomous position control of aerial hovering...
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