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Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control

ENCS 2012: Advances in Estimation, Navigation, and Spacecraft Control pp 209–233Cite as

Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies

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Abstract

This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case studies: a simultaneous arrival mission scenario and a sequential auto-landing of a fleet of UAVs. In the adopted setup, the UAVs are assigned nominal spatial paths and speed profiles along those paths; the vehicles are then tasked to execute cooperative path following, rather than “open-loop” trajectory tracking. This cooperative strategy yields robust behavior against external disturbances by allowing the UAVs to negotiate their speeds along the paths in response to information exchanged over a supporting communications network.

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Author information

Authors and Affiliations

  1. Naval Postgraduate School, Monterey, CA, 93943, USA

    Isaac Kaminer & Vladimir Dobrokhodov

  2. University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA

    Enric Xargay, Venanzio Cichella & Naira Hovakimyan

  3. Instituto Superior Técnico, University of Lisbon, Lisbon, LX, 1049-001, Portugal

    António Manuel Pascoal

  4. Faculty of Engineering, University of Porto, Porto, P.O. 4200, Portugal

    A. Pedro Aguiar

  5. Tampere University of Technology, Tampere, FI-33101, Finland

    Reza Ghabcheloo

Authors
  1. Isaac Kaminer
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  2. Enric Xargay
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  3. Venanzio Cichella
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  4. Naira Hovakimyan
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  5. António Manuel Pascoal
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  6. A. Pedro Aguiar
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  7. Vladimir Dobrokhodov
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  8. Reza Ghabcheloo
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Corresponding author

Correspondence to Isaac Kaminer .

Editor information

Editors and Affiliations

  1. Mechanical Engineering Department, Ben-Gurion University of the Negev, Beer Sheva, Israel

    Daniel Choukroun

  2. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Yaakov Oshman

  3. NASA Goddard Space Flight Center, Greenbelt, USA

    Julie Thienel

  4. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Moshe Idan

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Kaminer, I. et al. (2015). Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_12

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  • DOI: https://doi.org/10.1007/978-3-662-44785-7_12

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-44784-0

  • Online ISBN: 978-3-662-44785-7

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