2 research outputs found
A Framework for Multi-Vehicle Navigation Using Feedback-Based Motion Primitives
We present a hybrid control framework for solving a motion planning problem
among a collection of heterogenous agents. The proposed approach utilizes a
finite set of low-level motion primitives, each based on a piecewise affine
feedback control, to generate complex motions in a gridded workspace. The
constraints on allowable sequences of successive motion primitives are
formalized through a maneuver automaton. At the higher level, a control policy
generated by a shortest path non-deterministic algorithm determines which
motion primitive is executed in each box of the gridded workspace. The overall
framework yields a highly robust control design on both the low and high
levels. We experimentally demonstrate the efficacy and robustness of this
framework for multiple quadrocopters maneuvering in a 2D or 3D workspace.Comment: 7 pages, 12 figures, to appear in Proc. of the IEEE/RSJ International
Conference on Intelligent Robots and Systems, 201
Synthesizing communication plans for reachability and safety specifications
We propose control and communication strategies for nonlinear networked
control systems subject to state and input constraints. The objective is to
steer the state of the system towards a prescribed target set in finite time
(\textit{reachability}), while at the same time remaining inside a safety set
for all time (\textit{safety}). By leveraging the notion of -ISS
control Lyapunov function, we derive a sufficient condition to generate a
communication scheduling, such that the resulting state trajectory guarantees
reachability and safety. Moreover, in order to alleviate computational burden
we present a way to find a suitable communication scheduling by implementing
abstraction schemes and standard graph search methodologies. Simulation
examples validate the effectiveness of the proposed approach.Comment: submitted to IEEE TA