TY - GEN
T1 - Continuum Deformation of a Multiple Quadcopter Payload Delivery Team without Inter-Agent Communication
AU - Rastgoftar, Hossein
AU - Atkins, Ella M.
N1 - Funding Information:
ACKNOWLEDGEMENT This work was supported in part under Office of Naval Research (ONR) grant N000141410596.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/31
Y1 - 2018/8/31
N2 - This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quad-copter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances in a 2- D motion plane to follow desired motions of three team leaders. The remaining quadcopter followers establish the desired continuum deformation only by knowing leaders' positions at desired sample time waypoints without the need for inter-agent communication over the intermediate intervals. Each quadcopter applies a linear-quadratic Gaussian (LQG) controller to track the desired trajectory given by the continuum deformation in the presence of disturbance and measurement noise. Results of simulated cooperative aerial payload transport in the presence of uncertainty illustrate application of continuum deformation for coordinated transport through a narrow channel.
AB - This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quad-copter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances in a 2- D motion plane to follow desired motions of three team leaders. The remaining quadcopter followers establish the desired continuum deformation only by knowing leaders' positions at desired sample time waypoints without the need for inter-agent communication over the intermediate intervals. Each quadcopter applies a linear-quadratic Gaussian (LQG) controller to track the desired trajectory given by the continuum deformation in the presence of disturbance and measurement noise. Results of simulated cooperative aerial payload transport in the presence of uncertainty illustrate application of continuum deformation for coordinated transport through a narrow channel.
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U2 - 10.1109/ICUAS.2018.8453433
DO - 10.1109/ICUAS.2018.8453433
M3 - Conference contribution
AN - SCOPUS:85053863422
SN - 9781538613535
T3 - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
SP - 539
EP - 548
BT - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Y2 - 12 June 2018 through 15 June 2018
ER -