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Full-Text Articles in Mechanical Engineering
Task-Driven Multi-Formation Control For Coordinated Uav/Ugv Isr Missions, Herbert G. Tanner
Task-Driven Multi-Formation Control For Coordinated Uav/Ugv Isr Missions, Herbert G. Tanner
Mechanical Engineering Faculty Publications
The report describes the development of a theoretical framework for coordination and control of combined teams of UAVs and UGVs for coordinated ISR missions. We consider the mission as a composition of an ordered sequence of subtasks, each to be performed by a different team. We design continuous cooperative controllers that enable each team to perform a given subtask and we develop a discrete strategy for interleaving the action of teams on different subtasks. The overall multi-agent coordination architecture is captured by a hybrid automaton, stability is studied using Lyapunov tools, and performance is evaluated through numerical simulations.
Human Interfaces For Cooperative Control Of Multiple Vehicle Systems, Jisang Sun
Human Interfaces For Cooperative Control Of Multiple Vehicle Systems, Jisang Sun
Theses and Dissertations
This thesis presents a human interface which helps users efficiently allocate multiple unmanned ground vehicles (UGVs) cooperating to accomplish timing-sensitive missions in an urban environment. The urban environment consists of obstacles and a hazardous region. The obstacles represent a "no-go zone" while the hazardous region represents a high-risk area. The main object of this problem is to minimize the team operational cost while satisfying timing constraints. Operational costs for individual vehicles are based on risk and power consumption, and are calculated using path length and vehicle velocity. In this thesis, three types of timing constraints are considered: simultaneous arrival, tight …