Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2975956
Abstract: Most approaches to multi-robot control either rely on local decentralized control policies that scale well in the number of agents, or on centralized methods that can handle constraints and produce rich system-level behavior, but are… read more here.
Keywords: transport; cable suspended; distributed trajectory; trajectory optimization ... See more keywords
Online Distributed Trajectory Planning for Quadrotor Swarm With Feasibility Guarantee Using Linear Safe Corridor
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3152702
Abstract: This letter presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to formulate the distributed… read more here.
Keywords: linear safe; trajectory planning; distributed trajectory; safe corridor ... See more keywords
Distributed Trajectory Optimization and Sliding Mode Control of Heterogenous Vehicular Platoons
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Intelligent Transportation Systems"
DOI: 10.1109/tits.2021.3066688
Abstract: This study investigates the problem of distributed trajectory optimization and platooning of a group of heterogenous vehicles. A distributed hierarchical framework is proposed for trajectory optimization and tracking control. The role of the upper layer… read more here.
Keywords: sliding mode; trajectory optimization; optimization; mode control ... See more keywords
Distributed Trajectory Optimization and Fixed-Time Tracking Control of a Group of Connected Vehicles
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2022.3212023
Abstract: This paper investigates a distributed trajectory optimization and trajectory tracking control problem for a collection of vehicles. A two-layered framework is established for distributed trajectory optimization and fixed-time tracking control. The trajectory optimization problem is… read more here.
Keywords: distributed trajectory; trajectory optimization; fixed time; tracking control ... See more keywords