Searched for: subject%3A%22Formation%255C%2BControl%22
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Anil Meera, A. (author)
The potential impact of a grand unified theory of the brain on the robotics community might be immense, as it might hold the key to the general artificial intelligence. Such a theory might make revolutionary leaps in robot intelligence by improving the quality of our lives. The last two decades have witnessed the rise of one such brain theory -...
doctoral thesis 2023
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Wang, X. (author), Baldi, S. (author), Feng, Xuewei (author), Wu, Changwei (author), Xie, Hongwei (author), De Schutter, B.H.K. (author)
The vector field method was originally proposed to guide a single fixed-wing Unmanned Aerial Vehicle (UAV) towards a desired path. In this work, a non-uniform vector field method is proposed that changes in both magnitude and direction, for the purpose of achieving formations of UAVs. As compared to related work in the literature, the...
journal article 2023
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Wang, X. (author)
Unmanned Aerial Vehicles (UAVs) have been emerging as a promising but challenging platform for studying autonomous and cooperative control. This Ph.D. thesis focuses on fixed-wing UAVs which, with their more efficient aerodynamics, can ensure longer flight durations and more autonomy than multi-rotorUAVs. However, in the current state of the art...
doctoral thesis 2022
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Li, Zhonggang (author)
Distributed formation control has received increasing attention in multiagent systems. Maintaining certain geometry in space is advantageous in many applications such as space interferometry and underwater sensing. At present, there is a variety of distributed solutions for agents to converge to desired formations and track a series of...
master thesis 2022
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van der Marel, M.P. (author), Rajan, R.T. (author)
Formation control (FC) of multi-agent systems plays a critical role in a wide variety of fields. In the absence of absolute positioning, agents in FC systems rely on relative position measurements with respect to their neighbors. In distributed filter design literature, relative observation models are comparatively unexplored, and in FC...
conference paper 2022
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Zhang, Xinglong (author), Peng, Yaoqian (author), Pan, W. (author), Xu, Xin (author), Xie, Haibin (author)
Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL)...
conference paper 2022
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You, Xu (author), Yan, Xinping (author), Liu, Jialun (author), Li, Shijie (author), Negenborn, R.R. (author)
This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader–follower formation...
journal article 2022
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Bai, C. (author), Yan, Peng (author), Pan, W. (author), Guo, Jifeng (author)
Multi-robot formation control has been intensively studied in recent years. In practical applications, the multi-robot system's ability to independently change the formation to avoid collision among the robots or with obstacles is critical. In this study, a multi-robot adaptive formation control framework based on deep reinforcement learning...
journal article 2022
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van der Marel, Martijn (author)
Formation control problems consider a set of mobile agents with the underlying goal of attaining and maintaining a state where the relative positions of agents are stable in accordance with the desired configuration.<br/>Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS....
master thesis 2021
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van der Linden, M.J. (author)
The application of autonomous robotic vehicles to explore unknown environments is a growing field of interest in the research community. This thesis report studies the practical implementation of employing three autonomous vehicles to navigate towards a signal emitting source in an unknown environment. The group of autonomous vehicles is...
master thesis 2021
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van Pampus, M.J. (author), Haseltalab, A. (author), Garofano, V. (author), Reppa, V. (author), Deinema, Y.H. (author), Negenborn, R.R. (author)
Formation control of autonomous surface vessels (ASVs) has been studied extensively over the last few years since it offers promising advantages. In this paper, two control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (MPC) method and an MPC method using Feedback Linearization. One...
conference paper 2021
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Yue, D. (author), Baldi, S. (author), Cao, Jinde (author), Li, Qi (author), De Schutter, B.H.K. (author)
In this article, the time-varying formation and time-varying formation tracking problems are solved for linear multiagent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated with the digraph. The solution to these problems relies on an approach that generalizes the directed spanning tree (DST)...
journal article 2021
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Mohammad, Zobeer (author)
The mission control of a fixed-wings UAV is slightly more complex compared to other models like quad-rotors or unicycles since the dynamic of a fixed-wing aircraft does not allow rapid direction changes or stop-rotate-go type of movements. Those restriction needs to be taken into consideration when building a mission control system, moreover,...
master thesis 2020
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van der Geest, Xander (author)
The use of distributed multi-agent formation control for non-holonomic mobile robots shows great promise in practical environments. In this thesis, a Robot Operating System (ROS) package is developed in which various formation control algorithms are implemented for use on a group of skid-steer drive mobile robots. These formation control...
master thesis 2020
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van Pampus, M.J. (author)
Formation control of autonomous surface vessels (ASVs) is researched extensively in the last years, since it has promising applications. However very few designed strategies have been validated during real experiments. In this research, two<br/>control methods for distributed leader-follower formation control are proposed: A Nonlinear Model...
master thesis 2020
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Yang, Jun (author), Thomas, Arun Geo (author), Singh, Satish (author), Baldi, S. (author), Wang, X. (author)
Unmanned Aerial Vehicles (UAVs) have multi-domain applications, fixed-wing UAVs being a widely used class. Despite the ongoing research on the topics of guidance and formation control of fixed-wing UAVs, little progress is known on implementation of semi-physical validation platforms (software-in-the-loop or hardware-in-the-loop) for such...
journal article 2020
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de Groot, Oscar (author)
In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce a control law for nonlinear fully actuated mechanical agents that separates the cooperative coordinates from the local coordinates, which removes the necessity for...
master thesis 2019
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Singh, Satish (author)
Formation flying is a phenomenon observed very often in the natural world, e.g. birds flying in a flock. The past decade has given a lot of emphasis on the research for the control of autonomous Unmanned Aerial Vehicles (UAVs) of the fixed-wing kind, in an effort to emulate the behavior of natural flocks. Emulating this behavior requires the...
master thesis 2019
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Ledzian, Patrick (author)
Decentralized control and estimation are both active research areas in the field of systems and control. A new approach to these topics utilizes graph theory to characterize inter-agent communication as a graph that, in this thesis, can have time-varying topology. This approach has been named "network-decentralized" and the use of network...
master thesis 2019
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Thomas, Arun (author)
UnmannedAerial Vehicles(UAVs) have multi-domain applications and fixed-wing UAVs are a widely used class. There is ongoing research on topics in view to optimize the control and guidance of UAVs. This work explores the design, implementation and Software-in-the-Loop validation of an autopilot using adaptive guidance laws with emphasis on...
master thesis 2019
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