Decentralized receding horizon control and coordination of autonomous vehicle formations

Journal article (2008)

Authors

T. Keviczky DISC - Mechanical, Maritime and Materials Engineering
F Borrelli External organisation
K Fregene External organisation
D Godbole External organisation
G.J Balas External organisation
Research Group
DISC (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2008

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

DISC

Abstract

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.