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Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms
2021
Frontiers in Robotics and AI
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We provide a formal extension of the explicit reference governor framework to address the case of distributed systems. ...
This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware ...
The Explicit Reference Governor: A General Framework for the Closed-form Control of Constrained Nonlinear Systems. IEEE Control. Syst. ...
doi:10.3389/frobt.2021.663809
fatcat:uajgejz54bggrbfxpplwgxivwm
Constrained Control Of A Uav In A World With Obstacles
2018
Zenodo
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Among others, this led to the development of the explicit reference governor (ERG). ...
Nowadays, unmanned aerial vehicles (UAV) are brought to accomplish an ever-growing variety of missions in the presence of challenging obstacles. ...
The main goal application of this framework is the constrained control of unmanned aerial vehicles (UAVs). ...
doi:10.5281/zenodo.1170445
fatcat:2kiyitbdhnbntn46aztol4v7km
IEEE Robotics & Automation Society
2012
IEEE robotics & automation magazine
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Unmanned Aerial Vehicle platform is the subject of this paper. ...
In this paper, the design process of two robust Hinf control architectures for a Gun Launched Micro Aerial Vehicle -GLMAV -is presented. ...
doi:10.1109/mra.2012.2230568
fatcat:33actbknxrel3jnag2kx7cncem
IEEE Robotics & Automation Society
2011
IEEE robotics & automation magazine
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Unmanned Aerial Vehicle platform is the subject of this paper. ...
In this paper, the design process of two robust Hinf control architectures for a Gun Launched Micro Aerial Vehicle -GLMAV -is presented. ...
doi:10.1109/mra.2011.941112
fatcat:owvu2behc5hulpcae2dp5myigm
[IEEE Robotics & Automation Society]
2012
IEEE robotics & automation magazine
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Unmanned Aerial Vehicle platform is the subject of this paper. ...
In this paper, the design process of two robust Hinf control architectures for a Gun Launched Micro Aerial Vehicle -GLMAV -is presented. ...
doi:10.1109/mra.2012.2229854
fatcat:rjrxtwk4jbcgjpvjdad6mougsq
IEEE Robotics & Automation Society
2011
IEEE robotics & automation magazine
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Unmanned Aerial Vehicle platform is the subject of this paper. ...
In this paper, the design process of two robust Hinf control architectures for a Gun Launched Micro Aerial Vehicle -GLMAV -is presented. ...
doi:10.1109/mra.2011.943480
fatcat:d2wvloyv6jcbzp2yathd52mx2u
Technical Note for "A Geodesic Approach for the Control of Tethered Quadrotors"
[article]
2019
arXiv
pre-print
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This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. ...
The control scheme is augmented with a reference governor to enforce constraints. ...
., "The Explicit Reference Governor -A General Framework for the Closed-Form ...
arXiv:1902.08878v1
fatcat:nlfa7zyxore7zpvrfz6yyjj5xa
Annual Business and News: Beginning the 34th Year
2011
Journal of Guidance Control and Dynamics
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The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
Ducard et al. [2] has evaluated the reduced performance of an unmanned aerial vehicle after an aileron failure in terms of admissible bank angles and time to roll to the limiting angle. ...
Unmanned Aerial Vehicle Communication Scheme Information on objects (obstacles and target) detected by fellow UAVs that are in communication range is also relayed to the UAV. ...
doi:10.2514/1.53158
fatcat:okfkfxgaqrhmdgs5zgx625lrwy
2021 Index IEEE Transactions on Industrial Informatics Vol. 17
2021
IEEE Transactions on Industrial Informatics
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The Author Index contains the primary entry for each item, listed under the first author's name. ...
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination. ...
of Unmanned Aerial Vehicle Swarms-Enabled Mobile Edge Computing System. ...
doi:10.1109/tii.2021.3138206
fatcat:ulsazxgmpfdmlivigjqgyl7zre
The Political Economy of Drones
2013
Social Science Research Network
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Contracts included in this figure include those which specifically reference "drones" or "unmanned aerial vehicles." ...
DRONES: PUBLIC INTEREST, PUBLIC CHOICE, AND THE EXPANSION OF UNMANNED AERIAL VEHICLES
Introduction Unmanned aerial vehicles (UAVs), or "drones" have been described Academic scholars and policy makers ...
doi:10.2139/ssrn.2285820
fatcat:rs23xbir5ff3thaq5xv2ziqfoa
Control and Communication Challenges in Networked Real-Time Systems
2007
Proceedings of the IEEE
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Air Force Research Laboratory, focuses on a new class of assets, small unmanned aerial vehicles (UAVs), and on their use for reconnaissance and surveillance missions in cities and towns. ...
ground vehicles (UGVs), and unmanned air vehicles (UAVs). ...
Such systems describe, for example, the controlled dynamics of a rigid body. ...
doi:10.1109/jproc.2006.887290
fatcat:elbimftiszbvte3nuq7u4bp4fu
Run Time Assurance for Safety-Critical Systems: An Introduction to Safety Filtering Approaches for Complex Control Systems
[article]
2022
arXiv
pre-print
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In many cases, RTA systems can functionally be described as containing a monitor that watches the state of the system and output of a primary controller, and a backup controller that replaces or modifies ...
An important quality of an RTA system is that the assurance mechanism is constructed in a way that is entirely agnostic to the underlying structure of the primary controller. ...
A command or reference governor architecture is depicted in Figure S1 . ...
arXiv:2110.03506v2
fatcat:ttlkqzmrincxtbwfjhi5so5fze
Autonomy and machine intelligence in complex systems: A tutorial
2015
2015 American Control Conference (ACC)
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, there is a need for approaches that respond to situations not programmed or anticipated in design. ...
to develop new self-configuring algorithms for decision and control given the unavailability of model, the presence of enemy components and the possibility of network attacks. ...
Well known examples include Unmanned Aerial Vehicles (UAV), Autonomous Underwater Vehicles (AUV), office and residential buildings that regulate their energy consumption while adapting to the needs of ...
doi:10.1109/acc.2015.7172127
dblp:conf/amcc/VamvoudakisADHL15
fatcat:qjgkifqa7vbebmmat2dtzrl7ei
Trajectory planning/re-planning for satellite systems in rendezvous mission in the presence of actuator faults based on attainable efforts analysis
2013
International Journal of Systems Science
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The objective of Fault-tolerant Control (FTC) is to minimize the effect of faults on systems performance (stability, trajectory tracking, etc.). ...
The work considers the case of over-actuated systems where a new idea is proposed to evaluate the severity of faults occurred. ...
Flatness-based trajectory planning Flatness has been employed in trajectory planning for the quadrotor unmanned aerial vehicle: a method is presented in (Bouktir et al., 2008) to generate timeoptimal ...
doi:10.1080/00207721.2013.797034
fatcat:kemshinmszhmnn7u2zglfvqviq
Governing lethal behavior
2008
Proceedings of the 3rd international conference on Human robot interaction - HRI '08
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the implementation of an ethical control and reasoning system potentially suitable for constraining lethal actions in an autonomous robotic system so that they fall within the bounds prescribed by the ...
operators regarding the ultimate responsibility for the deployment of such a system. ...
(unmanned aerial vehicles) equipped with hellfire missiles, which have already been used in combat but under direct human supervision; and the development of an armed platform for use in the Korean Demilitarized ...
doi:10.1145/1349822.1349839
dblp:conf/hri/Arkin08
fatcat:ksklbtupxjeazksapkn4zzd4ki
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