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Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a(More)
The use of a differential game and an optimal control theoretic approach for computing danger zones for this particular problem is new. The space outside the danger zone is deemed provably safe, implying that during blunder situations, emergency evasive maneuvers starting from outside the zone are guaranteed to be safe within limits on the maneuver severity(More)
One of the requirements for closely spaced parallel approaches (CSPA) is the proof that possible blunders of the adjacent aircraft do not lead to a loss of separation. Our paper addresses this problem by considering the blunderer as a " pursuer " and the other aircraft as an " evader ". We then use differential game methodology to find the safe region in(More)
— The Stanford DragonFly Program (http://airtraffic1.stanford.edu/∼uav/) consists of two fixed wing (10-foot wingspan) autonomous aircraft, whose onboard architecture, avionics, control, and integration with wireless communications have been developed entirely at Stanford. The DragonFly platform is used as a technology testbed for research in the design of(More)
— Aircraft formation flying and highway vehicle platooning are examples of spacing control of multiple vehicles. To achieve string stability with a linear static controller, state information of a reference vehicle in addition to the immediately preceding vehicle must be available to all vehicles. Possibly, the most efficient way to achieve this is by using(More)
Sensor networks have generated much interest in the research community because they have a wide range of potentially impactful applications. In this field, one of the major research challenges is the distributed resource allocation problem. This problem concerns how one should allocate or schedule the limited resources in a sensor network to minimize costs(More)
There has been a lot of interest over the last decade in the use of multiple robots in applications such as search and rescue missions. The use of multiple robots could increase mission effectiveness and robustness. The design of algorithms for robot cooperation to achieve collective mission goals is still on-going research. Various possibilities depending(More)
In this paper, a decomposition hierarchic on-line motion planning approach consisting of path planning and trajectory generation is proposed for VTOL UAVs to fly in a GPS-denied unknown obstacle-rich environment such as forest and urban canyon. A closed-loop 3D path planning based on A* search algorithm is used to generate collision-free path and a 3D(More)