Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

Keviczky, T.
Borelli, F.
Fregene, K.
Godbole, D.
Bals, G.J.

Mechanical, Maritime and Materials Engineering

Delft Center for Systems and Control

2008-01-02

This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory.

constrained optimization
formation flight
hierarchical decomposition
receding horizon control
set invariance

http://resolver.tudelft.nl/uuid:65a5bdb8-c4c5-42e3-9471-c64c2c151925

IEEE

1063-6536

IEEE Transactions on Control Systems Technology, 16 (1), 1980

Institutional Repository

journal article

(c) 2007 IEEE