ICRA 2012 Paper Abstract

Close

Paper TuA01.4

Turpin, Matthew (University of Pennsylvania), Michael, Nathan (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Decentralized Formation Control with Variable Shapes for Aerial Robots

Scheduled for presentation during the Regular Session "Estimation and Control for UAVs" (TuA01), Tuesday, May 15, 2012, 09:15−09:30, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Aerial Robotics

Abstract

We address formation control for a team of quadrotors in which the robots follow a specified group trajectory while safely changing the shape of the formation according to specifications. The formation is prescribed by shape vectors which dictate the relative separations and bearings between the robots, while the group trajectory is specified as the desired trajectory of a leader or a virtual robot in the group. Each robot plans its trajectory independently based on its local information of neighboring robots which includes both the neighbor's planned trajectory and an estimate of its state. We show that the decentralized trajectory planners (a) result in consensus on the planned trajectory for predefined shapes and (b) achieve safe reconfiguration when changing shapes.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-12-13  22:18:40 PST  Terms of use