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

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Electrical and Electronic Engineering

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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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