Formation control of unmanned rotorcraft systems with state constraints and inter-agent collision avoidance

Formation control of unmanned rotorcraft systems with state constraints and inter-agent collision avoidance

Blog Article

Abstract We present in this paper a novel framework and distributed control laws for the formation of multiple unmanned rotorcraft systems, be it single-rotor helicopters or multi-copters, with physical constraints Bottom-up approach to strengthen community-based malaria control strategy from community health workers’ perceptions of their past, present, and future: a qualitative study in Palawan, Philippines and with inter-agent collision avoidance, in cluttered environments.The proposed technique is composed of an analytical distributed consensus control solution in the free space and an optimization based motion planning algorithm for inter-agent and obstacle collision avoidance.More specifically, we design a distributed consensus control law to tackle a series of state constraints that include but not limited to the physical limitations of velocity, acceleration and jerk, and an optimization-based motion planning technique is utilized to generate numerical solutions when the Ajornamento sacred art of Catholicism in the context of philosophical analysis consensus control fails to provide a collision-free trajectory.Besides, a sufficiency condition is given to guarantee the stability of the switching process between the consensus control and motion planning.Finally, both simulation and real flight experiments successfully demonstrate the effectiveness of the proposed technique.