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SUMMARY 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… (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)
A new method is proposed to implement gain-scheduled controllers for nonlinear plants. Given a family of linear feedback controllers designed for lineariza-tions 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 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)
— This paper addresses the problem of steering a group of underactuated autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a general class of vehicles moving in either two or three-dimensional space, we show how Lyapunov-based techniques and graph theory can be brought together to yield a… (More)
xi Dedication xiii Acknowledgments xiv 1 Introduction 1 1.
— This paper focuses on the problem of developing control laws to solve the Time-Coordinated 3D Path-Following task for multiple quadrotor UAVs in the presence of time-varying communication networks and spatial and temporal constraints. The objective is to enable a fleet of quadrotors to track predefined spatial paths while coordinating to achieve… (More)