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

doi:10.1109/MCS.2016.2558443

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

Research output: Contribution to journal › Article

Abstract

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.

Original language	English (US)
Article number	7515324
Pages (from-to)	59-82
Number of pages	24
Journal	IEEE Control Systems
Volume	36
Issue number	4
DOIs	https://doi.org/10.1109/MCS.2016.2558443
State	Published - Jul 2016

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ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Electrical and Electronic Engineering

Cite this

Cichella, V., Choe, R., Mehdi, S. B., Xargay, E., Hovakimyan, N., Dobrokhodov, V., Kaminer, I., Pascoal, A. M., & Pedro Aguiar, A. (2016). Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles: A cooperative control framework for multivehicle, time-critical missions. IEEE Control Systems, 36(4), 59-82. [7515324]. https://doi.org/10.1109/MCS.2016.2558443

Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles : A cooperative control framework for multivehicle, time-critical missions. / Cichella, Venanzio; Choe, Ronald; Mehdi, Syed Bilal; Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Isaac; Pascoal, Antonio M.; Pedro Aguiar, A.

In: IEEE Control Systems, Vol. 36, No. 4, 7515324, 07.2016, p. 59-82.

Research output: Contribution to journal › Article

Cichella, V, Choe, R, Mehdi, SB, Xargay, E, Hovakimyan, N, Dobrokhodov, V, Kaminer, I, Pascoal, AM & Pedro Aguiar, A 2016, 'Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles: A cooperative control framework for multivehicle, time-critical missions', IEEE Control Systems, vol. 36, no. 4, 7515324, pp. 59-82. https://doi.org/10.1109/MCS.2016.2558443

Cichella, Venanzio ; Choe, Ronald ; Mehdi, Syed Bilal ; Xargay, Enric ; Hovakimyan, Naira ; Dobrokhodov, Vladimir ; Kaminer, Isaac ; Pascoal, Antonio M. ; Pedro Aguiar, A. / Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles : A cooperative control framework for multivehicle, time-critical missions. In: IEEE Control Systems. 2016 ; Vol. 36, No. 4. pp. 59-82.

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10.1109/MCS.2016.2558443