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Time-Coordination Strategies and Control Laws for Multi-Agent Unmanned Systems

机译：多Agent无人机系统的时间协调策略与控制律

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Time-critical coordination tools for unmanned systems can be employed to enforce the type of temporal constraints required in terminal control areas, ensure minimum distance requirements among vehicles are satisfied, and successfully perform coordinated missions. In comparison with previous literature, this paper presents an ampler spectrum of coordination and temporal specifications for unmanned systems, and proposes a general control law that can enforce this range of constraints. The constraint classification presented considers the nature of the desired arrival window and the permissible coordination errors to define six different types of time-coordination strategies. The resulting decentralized coordination control law allows the vehicles to negotiate their speeds along their paths in response to information exchanged over the communication network. This control law organizes the different members in the fleet per their behavior and informational needs as reference agent, leaders, and followers. Examples and simulation results for all the coordination strategies presented demonstrate the applicability and efficacy of the coordination control law presented here.
机译：可以使用无人系统的对时间要求严格的协调工具来强制执行终端控制区域所需的时间约束类型，确保满足车辆之间的最小距离要求，并成功执行协调任务。与以前的文献相比，本文提出了一种针对无人系统的协调和时间规范的安培谱，并提出了可以强制执行此约束范围的一般控制律。提出的约束分类考虑了所需到达窗口的性质和允许的协调误差，以定义六种不同类型的时间协调策略。由此产生的分散式协调控制法则使车辆能够响应通过通信网络交换的信息，沿其路径协商速度。该控制法根据车队中的不同成员的行为和信息需求来组织它们，作为参考代理，领导者和追随者。给出的所有协调策略的实例和仿真结果证明了此处提出的协调控制法的适用性和有效性。

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