Local and Distributed Rendezvous of Underactuated Rigid Bodies

This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2017-08, Vol.62 (8), p.3835-3847
Main Authors: Roza, Ashton, Maggiore, Manfredi, Scardovi, Luca
Format: Article
Language:English
Subjects:
Angular velocity
Decentralized Control
Networked Control Systems
Nonlinear Control Systems
Robot Control
Robot kinematics
Robot sensing systems
Vehicles
Velocity measurement
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Summary:This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using only an on-board camera and a three-axis rate gyroscope. No global positioning system is required, nor any information about the vehicles' attitudes.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2017.2650562