Isaac Kaminer

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A new method is proposed to implement gain-scheduled controllers for nonlinear plants. Given a family of linear feedback controllers designed for linearizations of a nonlinear plant about constant operating points, a nonlinear gain-scheduled controller is derived that preserves the input-output properties of the linear closed loop systems locally, about(More)
The paper presents a solution to the problem of steering a group of wheeled robots along given spatial paths, while holding a desired inter-vehicle formation pattern. This problem arises for example when multiple robots are required to search a given area in cooperation. The solution proposed addresses explicitly the dynamics of the cooperating robots and(More)
The paper proposes a solution to the problem of coordinated control of multiple unmanned air vehicle (UAV) to ensure collision-free maneuvers under strict spatial and temporal constraints. First, a set of feasible trajectories are generated for all UAVs using a new direct method of optimal control that takes into account rules for collision avoidance. A(More)
This paper addresses the problem of steering a group of vehicles along given spatial paths while holding a desired time-varying geometrical formation pattern. The solution to this problem, henceforth referred to as the coordinated path-following (CPF) problem, unfolds in two basic steps. First, a path-following (PF) control law is designed to drive each(More)
The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired inter-vehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts as a leader and follows a path(More)
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TCPF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at preassigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival(More)
The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired inter-vehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts a leader and follows a path(More)
The Brown Water Navy doctrine recently issued by DoD calls for the Naval ships to operate in a close vicinity of the enemy shore. Furthermore, the Navy foresees increasing reliance on the use of unmanned air vehicles (UAVs) for reconnaissance and other missions. This combination of greater utilization of UAVs while operating in proximity of the enemy has(More)