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 journalArticle

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 languageEnglish (US)
Article number7515324
Pages (from-to)59-82
Number of pages24
JournalIEEE Control Systems
Volume36
Issue number4
DOIs
StatePublished - 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