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arXiv · 1403.0258

Decentralized Hybrid Formation Control of Unmanned Aerial Vehicles

Ali Karimoddini1·Mohammad Karimadini·Hai Lin
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Abstract

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission including reaching the formation, keeping the formation, and collision avoidance. Furthermore, a formal technique is developed to design the local supervisors decentralizedly, so that the team of helicopters as whole, can cooperatively accomplish a collision-free formation task.

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BibTeXRIS

Ali Karimoddini1, Mohammad Karimadini, Hai Lin. 2014-03-02. Decentralized Hybrid Formation Control of Unmanned Aerial Vehicles. https://arxiv.org/abs/1403.0258

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