Airship Formation Control

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



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.


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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

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)},

in EndNote Style

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