Continuum Deformation of a Multiple Quadcopter Payload Delivery Team without Inter-Agent Communication

Hossein Rastgoftar, Ella M. Atkins

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages539-548
Number of pages10
ISBN (Print)9781538613535
DOIs
StatePublished - Aug 31 2018
Externally publishedYes
Event2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018 - Dallas, United States
Duration: Jun 12 2018Jun 15 2018

Publication series

Name2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018

Conference

Conference2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Country/TerritoryUnited States
CityDallas
Period6/12/186/15/18

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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