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Full-Text Articles in Mechanical Engineering
Experiments In Cooperative Timing For Miniature Air Vehicles, Derek R. Nelson, Timothy W. Mclain, Randal W. Beard
Experiments In Cooperative Timing For Miniature Air Vehicles, Derek R. Nelson, Timothy W. Mclain, Randal W. Beard
Faculty Publications
This paper presents experimental results for two cooperative timing missions carried out using a team of three miniature air vehicles (MAVs). Using a cooperative timing algorithm based on coordination functions and coordination variables, the MAV team executed a series of simultaneous arrival and cooperative fly-by missions. In the presence of significant wind disturbances, the average time difference between the first and last vehicle in the simultaneous arrival experiments was 1.6 s. For the cooperative fly-by experiments, the average timing error between vehicle arrivals was 0.6 s. These results demonstrate the practical feasibility of the cooperative timing approach.
Cooperative Path Planning For Timing Critical Missions, Timothy W. Mclain, Randal W. Beard
Cooperative Path Planning For Timing Critical Missions, Timothy W. Mclain, Randal W. Beard
Faculty Publications
This paper presents a cooperative path planning approach for teams of vehicles operating under timing constraints. A cooperative control approach based on coordination variables and coordination functions is introduced and applied to cooperative timing problems. Three types of timing constraints are considered: simultaneous arrival, tight sequencing, and loose sequencing. Simulation results demonstrating the approach are presented.
Cooperative Control Of Uav Rendezvous, Timothy W. Mclain, Phillip R. Chandler, Steven Rasmussen, Meir Pachter
Cooperative Control Of Uav Rendezvous, Timothy W. Mclain, Phillip R. Chandler, Steven Rasmussen, Meir Pachter
Faculty Publications
The cooperative control of timing and synchronization of tasks of multiple unmanned air vehicles (UAVs) represents a valuable capability for a wide range of potential multi-UAV missions. This research addresses the specific problem of cooperative rendezvous in which multiple UAVs are to arrive at their targets simultaneously. The development of a rendezvous manager state machine and a cooperative control decomposition approach are described. Simulation results demonstrating the feasibility of the approach are presented.