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Reconfiguring TDMA Communications for Dynamic Formation of Vehicle Platoons
2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020Platooning is a promising concept used within the Intelligent Transportation System to increase efficiency and safety of road transportation. It is based on periodically sharing the kinematic status of the platoon members to allow reducing inter-vehicle distances in a safe way. This coordination is automatic and depends heavily on the wireless channel.
Aqsa Aslam +2 more
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Spacecraft formation reconfiguration with plume avoidance
2010 IEEE Aerospace Conference, 2010In this paper we present a method for performing plume avoidance in a leader-follower spacecraft formation. By using the null-space-based behavioral method we show that the follower is able to avoid entering the plume of the leader while performing a reconfiguration maneuver.
Espen Oland +2 more
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A Multi-UAV Simulation for Formation Reconfiguration
AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004This paper describes a heterogeneous multi-UAV simulation of the nonlinear, 6-DOF, rigid body dynamics involved in close formation flight. Salient features of our simulation include (i) flexibility in adding/removing UAVs to the existing group, (ii) versatility to handle any formation geometry (V-type, echelon type, etc.), (iii) adaptability to dynamic
Sriram Venkataramanan, Atilla Dogan
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Optimal reconfiguration of UAVs in formation flight
SICE Annual Conference 2007, 2007Reconfiguration of unmanned-aerial-vehicle (UAV) formation is one of most important step in field operation of UAV systems. Guidance law for reconfiguration of UAV is needed to satisfy requirements of optimality and constraints of short computational time. This paper describes rules of Dijkstra algorithm based on the optimal trajectories.
null Seiya Ueno, null Soon Jae Kwon
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A grid-based approach to formation reconfiguration in cluttered environments
2009 European Control Conference (ECC), 2009multi-agent system, formation ...
Damjan Miklic +2 more
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A Convex Guidance Algorithm for Formation Reconfiguration
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2006In this paper, a reconfiguration guidance algorithm for formation flying spacecraft is presented. The formation reconfiguration guidance problem is first formulated as a continuous-time minimum-fuel or minimum-energy optimal control problem with collision avoidance and control constraints.
Behcet Acikmese +3 more
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Onboard Semianalytic Approach to Collision-Free Formation Reconfiguration
IEEE Transactions on Aerospace and Electronic Systems, 2012Allowing satellite formations the flexibility to perform path planning operations onboard each spacecraft can significantly reduce the ground operations burden and increase the responsiveness of the formation to reconfiguration events. This paper develops a semianalytic approach to rapid onboard, fuel-minimized, collision-free path generation for ...
Luke Sauter, P. Palmer
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Optimization-based formation reconfiguration planning for autonomous vehicles
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003Given a group of autonomous vehicles, an initial configuration, a final configuration, a set of inter- and intra-vehicle constraints, and a time for reconfiguration, the Formation Reconfiguration Planning problem is focused on determining a nominal input trajectory for each vehicle such that the group can start from the initial configuration and reach ...
Sastry, S, Zelinski, S, Koo, TJ
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Formation reconfiguration for mobile robots with network connectivity constraints
IEEE Network, 2012Future systems of networked autonomous vehicles, such as unmanned aerial or ground vehicles, may rely on peer-to-peer wireless communication to coordinate their actions. The physical formation of the network may need to be reconfigured at times based on the specified missions.
Leenhapat Navaravong +3 more
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Distributed Reconfigurable Formation Generator for Mini Aerial Vehicles
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018This video presents a distributed trajectory generator for formation control of multi-robot systems. The desired formation is defined by its geometric parameters but the position of each robot in the formation is not predefined a priori. The contribution is the design of a distributed algorithm to compute the robots' positions with respect to a given ...
Lara Brifion-Arranz +3 more
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