3D Formation Control of Autonomous Vehicles Based on Null-Space

Autores
Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system.
Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Leica Arteaga, Paulo Cesar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mario. Universidade Federal do Espírito Santo; Brasil
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Aerial Formation Control
Null Space
Quadrotor
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/61776
Acceder
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network_name_str CONICET Digital (CONICET)
spelling 3D Formation Control of Autonomous Vehicles Based on Null-SpaceRosales, Claudio DarioLeica Arteaga, Paulo CesarSarcinelli Filho, MarioScaglia, Gustavo Juan EduardoCarelli Albarracin, Ricardo OscarAerial Formation ControlNull SpaceQuadrotorhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system.Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Leica Arteaga, Paulo Cesar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Sarcinelli Filho, Mario. Universidade Federal do Espírito Santo; BrasilFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaSpringer2016-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/61776Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar; 3D Formation Control of Autonomous Vehicles Based on Null-Space; Springer; Journal of Intelligent & Robotic Systems; 84; 1-4; 12-2016; 453-4670921-0296CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s10846-015-0329-5info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-015-0329-5info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:36:25Zoai:ri.conicet.gov.ar:11336/61776instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:36:25.885CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv 3D Formation Control of Autonomous Vehicles Based on Null-Space
title 3D Formation Control of Autonomous Vehicles Based on Null-Space
spellingShingle 3D Formation Control of Autonomous Vehicles Based on Null-Space
Rosales, Claudio Dario
Aerial Formation Control
Null Space
Quadrotor
title_short 3D Formation Control of Autonomous Vehicles Based on Null-Space
title_full 3D Formation Control of Autonomous Vehicles Based on Null-Space
title_fullStr 3D Formation Control of Autonomous Vehicles Based on Null-Space
title_full_unstemmed 3D Formation Control of Autonomous Vehicles Based on Null-Space
title_sort 3D Formation Control of Autonomous Vehicles Based on Null-Space
dc.creator.none.fl_str_mv Rosales, Claudio Dario
Leica Arteaga, Paulo Cesar
Sarcinelli Filho, Mario
Scaglia, Gustavo Juan Eduardo
Carelli Albarracin, Ricardo Oscar
author Rosales, Claudio Dario
author_facet Rosales, Claudio Dario
Leica Arteaga, Paulo Cesar
Sarcinelli Filho, Mario
Scaglia, Gustavo Juan Eduardo
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Leica Arteaga, Paulo Cesar
Sarcinelli Filho, Mario
Scaglia, Gustavo Juan Eduardo
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
dc.subject.none.fl_str_mv Aerial Formation Control
Null Space
Quadrotor
topic Aerial Formation Control
Null Space
Quadrotor
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system.
Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Leica Arteaga, Paulo Cesar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mario. Universidade Federal do Espírito Santo; Brasil
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system.
publishDate 2016
dc.date.none.fl_str_mv 2016-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/61776
Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar; 3D Formation Control of Autonomous Vehicles Based on Null-Space; Springer; Journal of Intelligent & Robotic Systems; 84; 1-4; 12-2016; 453-467
0921-0296
CONICET Digital
CONICET
url http://hdl.handle.net/11336/61776
identifier_str_mv Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar; 3D Formation Control of Autonomous Vehicles Based on Null-Space; Springer; Journal of Intelligent & Robotic Systems; 84; 1-4; 12-2016; 453-467
0921-0296
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s10846-015-0329-5
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-015-0329-5
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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