Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles: A Cooperative Control Framework for Multivehicle, Time-Critical Missions

Venanzio Cichella; Ronald Choe; Syed Bilal Mehdi; Enric Xargay; Naira Hovakimyan; Vladimir Dobrokhodov; Isaac Kaminer; Antonio M. Pascoal; A. Pedro Aguiar

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Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles: A Cooperative Control Framework for Multivehicle, Time-Critical Missions

机译：多旋翼无人机团队的安全协调机动：多车，时间紧迫任务的协作控制框架

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Multirotor unmanned aerial vehicles (UAVs) have experienced a very fast-paced technological development over the past years. Flight control systems have evolved from simple stability augmentation systems, barely enabling an external pilot to remotely fly a multirotor UAV, to full-fledged command augmentation systems, opening up the possibilities of autonomous operations of multirotors. Due to their small size, low cost, and high agility, multirotors draw a plethora of applications, including multiple vehicles operations, where the vehicles cooperate and jointly execute a mission, in constrained complex environments such as crowd monitoring and utility line inspection.

机译：在过去的几年中，多旋翼无人机（UAV）经历了非常快的技术发展。飞行控制系统已经从简单的稳定性增强系统（仅使外部飞行员无法远程驾驶多旋翼无人机）发展为成熟的命令增强系统，从而为多旋翼的自主运行开辟了可能性。由于多旋翼飞机体积小，成本低，敏捷性高，因此在诸如人群监视和公用事业线路检查等受限的复杂环境中，存在多种应用，包括多辆汽车的操作，在这些操作中，车辆可以协作并共同执行任务。

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《Control Systems, IEEE》 |2016年第4期|59-82|共24页
作者
Venanzio Cichella; Ronald Choe; Syed Bilal Mehdi; Enric Xargay; Naira Hovakimyan; Vladimir Dobrokhodov; Isaac Kaminer; Antonio M. Pascoal; A. Pedro Aguiar;
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Department of Mechanical Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801 USA;

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1. Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach [J] . Xueqiang Gu, Yu Zhang, Jing Chen, Defence Science Journal . 2014,第1期

机译：差分平坦度方法用于时间紧迫任务的无冲突多无人机作战飞机协同弹道规划
2. Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach [J] . Jing Chen, Lincheng Shen, Xueqiang Gu, Defence science journal . 2014,第1期

机译：时差任务的差分平面度方法用于无冲突多人战斗飞行器协同弹道规划
3. Collision-free Multiple Unmanned Combat Aerial Vehicles Cooperative Trajectory Planning for Time-critical Missions using Differential Flatness Approach [J] . Jing Chen, Lincheng Shen, Xueqiang Gu, Defence science journal . 2014,第1期

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4. Design, Integration and Sea Trials of 3D Printed Unmanned Aerial Vehicle and Unmanned Surface Vehicle for Cooperative Missions [C] . Hanlin Niu, Ze Ji, Pietro Liguori, IEEE/SICE International Symposium on System Integration . 2021

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5. Time-critical cooperative path-following control of multiple unmanned aerial vehicles. [D] . Xargay Mata, Enric. 2013

机译：多个无人机的时间关键协同路径跟踪控制。
6. Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control [O] . Fabio Augusto de Alcantara Andrade, Anthony Reinier Hovenburg, Luciano Netto de Lima, 2019

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7. Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control [O] . Fabio A. A. Andrade, Anthony Hovenburg, Luciano Netto de de Lima, 2019

机译：使用实时合作模型预测控制搜索和救援任务中的自主无人驾驶飞行器

Safe Coordinated Maneuvering of Teams of Multirotor Unmanned Aerial Vehicles: A Cooperative Control Framework for Multivehicle, Time-Critical Missions

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