Bearing-Based Formation Maneuvering

This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional approaches where the target formation is defined by inter-neighbor relative positions or distances, we propose a bearing-based approach where the target formation is defined by inter-neighbor bearings. Due to the invariance of the bearings, the bearing-based approach provides a natural solution to formation scale control. We assume the dynamics of each agent as a single integrator and propose a globally stable proportional-integral formation maneuver control law. It is shown that at least two leaders are required to collaborate in order to control the centroid and scale of the formation whereas the followers are not required to have access to any global information, such as the velocities of the leaders.Comment: To appear in the 2015 IEEE Multi-Conference on Systems and Control (MSC2015); this is the final versio

Bearing-based formation control with second-order agent dynamics

We consider the distributed formation control problem for a network of agents using visual measurements. We propose solutions that are based on bearing (and optionally distance) measurements, and agents with double integrator dynamics. We assume that a subset of the agents can track, in addition to their neighbors, a set of static features in the environment. These features are not considered to be part of the formation, but they are used to asymptotically control the velocity of the agents. We analyze the convergence properties of the proposed protocols analytically and through simulations.Published versionSupporting documentatio

Mission-oriented requirements for updating MIL-H-8501. Volume 1: STI proposed structure

The structure of a new flying and ground handling qualities specification for military rotorcraft is presented. This preliminary specification structure is intended to evolve into a replacement for specification MIL-H-8501A. The new structure is designed to accommodate a variety of rotorcraft types, mission flight phases, flight envelopes, and flight environmental characteristics and to provide criteria for three levels of flying qualities, a systematic treatment of failures and reliability, both conventional and multiaxis controllers, and external vision aids which may also incorporate synthetic display content. Existing and new criteria were incorporated into the new structure wherever they could be substantiated

Conceptual design of a two-stage-to-orbit vehicle

A conceptual design study of a two-stage-to-orbit vehicle is presented. Three configurations were initially investigated with one configuration selected for further development. The major objective was to place a 20,000-lb payload into a low Earth orbit using a two-stage vehicle. The first stage used air-breathing engines and employed a horizontal takeoff, while the second stage used rocket engines to achieve a 250-n.m. orbit. A two-stage-to-orbit vehicle seems a viable option for the next-generation space shuttle

Maneuvering formations of mobile agents using designed mismatched angles

This paper investigates how to maneuver a planar formation of mobile agents using designed mismatched angles. The desired formation shape is specified by a set of interior angle constraints. To realize the maneuver of translation, rotation and scaling of the formation as a whole, we intentionally force the agents to maintain mismatched desired angles by introducing a pair of mismatch parameters for each angle constraint. To allow different information requirements in the design and implementation stages, we consider both measurement-dependent and 10 measurement-independent mismatches. Starting from a triangular formation, we consider generically angle rigid formations that can be constructed from the triangular formation by adding new agents in sequence, each having two angle constraints associated with some existing three agents. The control law for each newly added agent arises naturally from the angle constraints and makes full use of the angle mismatch parameters. We show that the control can effectively stabilize the formations while simultaneously realizing maneuvering. Simulations are conducted to validate the theoretical results

NASA Automated Rendezvous and Capture Review. Executive summary

In support of the Cargo Transfer Vehicle (CTV) Definition Studies in FY-92, the Advanced Program Development division of the Office of Space Flight at NASA Headquarters conducted an evaluation and review of the United States capabilities and state-of-the-art in Automated Rendezvous and Capture (AR&C). This review was held in Williamsburg, Virginia on 19-21 Nov. 1991 and included over 120 attendees from U.S. government organizations, industries, and universities. One hundred abstracts were submitted to the organizing committee for consideration. Forty-two were selected for presentation. The review was structured to include five technical sessions. Forty-two papers addressed topics in the five categories below: (1) hardware systems and components; (2) software systems; (3) integrated systems; (4) operations; and (5) supporting infrastructure

Tracking the Tracker from its Passive Sonar ML-PDA Estimates

Target motion analysis with wideband passive sonar has received much attention. Maximum likelihood probabilistic data-association (ML-PDA) represents an asymptotically efficient estimator for deterministic target motion, and is especially well-suited for low-observable targets; the results presented here apply to situations with higher signal to noise ratio as well, including of course the situation of a deterministic target observed via clean measurements without false alarms or missed detections. Here we study the inverse problem, namely, how to identify the observing platform (following a two-leg motion model) from the results of the target estimation process, i.e. the estimated target state and the Fisher information matrix, quantities we assume an eavesdropper might intercept. We tackle the problem and we present observability properties, with supporting simulation results.Comment: To appear in IEEE Transactions on Aerospace and Electronic System

Triangular Formation Maneuver Using Designed Mismatched Angles

This paper investigates the problem of triangular formation maneuver control for mobile 3-agent systems with bearing measurements. Different from controlling rigid formations' maneuvering by introducing a pair of mismatches per distance constraint, we introduce a pair of designed- mismatches per angle constraint which leads to the desired triangular formation shape. Considering that for the control of triangular formations with angle constraints, each agent aims at maintaining its own interior angle, to realize the formation maneuver control we design the mismatches into each agent's own desired interior angle. Two types of designed-mismatch are investigated: time-varying case and constant case. For the time-varying case, under the assumption that each agent can additionally measure the relative position from itself to the formation centroid, the triangular formation maneuver control algorithm is designed such that the desired maneuvering in terms of translation, rotation, and scaling can be realized. For the constant case, under the constraint that the desired triangular shape is known only once for the mismatch design, the triangular formation maneuver control algorithm is also proposed, and the angle dynamics are derived by using the dot product of two bearing vectors. Finally, simulation examples demonstrate the effectiveness of the theoretical results