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Abstract
This letter proposes a reactive, safe, and high-performance distributed constrained control law for ensuring safety in multi-UAV systems. The UAVs possess higher-order nonlinear dynamics and are subject to actuation and collision avoidance constraints. To address the case of real-time multi-UAV collision avoidance, we propose a novel Trajectory-Tube Distributed Explicit Reference Governor (TT-D-ERG) approach based on the idea of embedding future state trajectories into safety tubes. The control law is ideally suited for systems with limited on-board hardware for computation and communication. The safety, efficacy, performance, and scalability of the method are demonstrated and benchmarked against state-of-the-art real-time collision avoidance methods by simulations and field experiments with multiple quadrotor UAVs (videos at https://youtu.be/V4P1O8vhKlo).
Original language | English |
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Pages (from-to) | 4173-4180 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 7 |
Issue number | 2 |
DOIs | |
Publication status | Published - Apr 2022 |
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Dive into the research topics of 'Safe, Fast, and Efficient Distributed Receding Horizon Constrained Control of Aerial Robot Swarms'. Together they form a unique fingerprint.Projects
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VLAAI1: Flanders Artificial Intelligence Research program (FAIR) – second cycle
1/01/24 → 31/12/28
Project: Applied