Airship Formation Control

Estela Bicho, André Moreira, Sérgio Diegues, Manuel Carvalheira, Sérgio Monteiro

2006

Abstract

This paper addresses the problem underlying the control and coordination of multiple autonomous airships that must travel maintaining a desired geometric formation and simultaneously avoid collisions with moving or stationary obstacles. The control architecture is based on the attractor dynamics approach to behaviour generation. The airship physical model is presented and the mathematical background for the control architecture is explained. Simulations (with perturbations) with formations of two and three autonomous airships are presented in order to validate the architecture.

References

  1. T. Balch and M. Hybinette: Social Potentials for scalable Multi-robot Formations, in IEEE Int. Conf. Robotics and Automation, 2000
  2. J. Desai, J. Ostrowski and V. Kumar: Modeling and Control of Formations of Nonholonomic Mobile Robots, in IEEE Transactions on Robotics and Automation, 905-908, December 2001,
  3. M. A. Lewis and K. Tan: High precision formation control of mobile robots using virtual structures, in Autonomous Robots,volume 4, 387-403, 1997
  4. S. Monteiro and E. Bicho: A Dynamical Systems Approach to Behavior-based Formation Control, in IEEE Int. Conf. Robotics and Automation, 2606-2611, 2002
  5. A. Paulino and H. Araújo: Control Aspects of Maintaining Non-Holonomic Robots in Geometric Formation, in 9th International Symposium on Intelligent Robotic Systems, July 2001,18-20
  6. H. Yamaguchi: A cooperative hunting behavior by mobile-robot troops, in The International Journal of Robotics Research,931-940, September, 1999
  7. P. K. C. Wang: Navigation Strategies for multiple autonomous robots moving in formation, in Robotics and Autonomous Systems, 213-245, 1995
  8. J. Sousa and T. Simsek and P. Varaiya: Task planning and execution for UAV teams, in IEEE Conference on Decision and Control, 3804-3810, Atlantis, Paradise Island, Bahamas, December 2004
  9. R. Teo and J. S. Jang and C. J. Tomlin: Automated Multiple UAV Flight - the Stanford DragonFly UAV Program, in IEEE Conference on Decision and Control,4268-4273, Atlantis, Paradise Island, Bahamas, December 2004
  10. G. Inalhan and D. Stipanovic and C.J. Tomlin: Decentralized Optimization, in IEEE Conference on Decison and Control, 1147-1155, Las Vegas, Nevada, USA, March 2002
  11. E. Bicho and A. Moreira and M. Carvalheira: Control of floating robots using attractor dynamics, in IEEE conference on Mechatronich & Robotics,107-112, Aachen, Germany, October 2004
  12. E. Bicho and A. Moreira and M. Carvalheira and W. Erlhagen: Autonomous Flight Trajectory Generation via Attractor Dynamics, in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 615-621, Edmonton, Canada, August 2005,
  13. E. Bicho and S. Monteiro: Formation control for multiple mobile robots: a non-linear attractor dynamics approach, in IEEE/RSJ Int. Conference on Intelligent Robots and Systems, 2016-2022, Las Vegas, USA, October 2003
  14. S. Monteiro and M. Vaz and E. Bicho, Attractor dynamics generates robot formations: from theroy to implementation, in IEEE International Conference on Robotics & Automation, 2582-2587, New Orleans, USA, April 2004,
  15. S.B.V. Gomes: An investigation of the flight dynamics of airships with application to the YEZ-2A, College of Aeronautics, Cranfield University, 1990
  16. Thor I. Fossen: Guidance and control of ocean vehicles, John Wiley & Sons, 1994, ISBN 0-4719-4113-1
  17. Leonard Meirovich: Methods of analytical dynamics, McGraw Hill, 1970, ISBN-0-486-43- 239-4
  18. Estela Bicho, Dynamic approach to behavior-based robotics: design, specification, analysis, simulation and implementation, Shaker Verlag, 2000, ISBN 3-8265-7462-1
  19. A. Steinhage, Dynamical systems for the generation of navigation behavior, Shaker Verlag, Aachen 1999
  20. G. Schöner and M. Dose and C. Engels, Dynamics of behavior: Theory and applications for autonomous robot architectures, Robotics and Autonomous Systems, vol. 16213-245, 1995
Download


Paper Citation


in Harvard Style

Bicho E., Moreira A., Diegues S., Carvalheira M. and Monteiro S. (2006). Airship Formation Control . In Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006) ISBN 978-972-8865-66-5, pages 22-33. DOI: 10.5220/0001223900220033


in Bibtex Style

@conference{mars06,
author={Estela Bicho and André Moreira and Sérgio Diegues and Manuel Carvalheira and Sérgio Monteiro},
title={Airship Formation Control},
booktitle={Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)},
year={2006},
pages={22-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001223900220033},
isbn={978-972-8865-66-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)
TI - Airship Formation Control
SN - 978-972-8865-66-5
AU - Bicho E.
AU - Moreira A.
AU - Diegues S.
AU - Carvalheira M.
AU - Monteiro S.
PY - 2006
SP - 22
EP - 33
DO - 10.5220/0001223900220033