Article (Scientific journals)
Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints
Dentler, Jan Eric; Kannan, Somasundar; Bezzaoucha, Souad et al.
2018In Autonomous Robots, p. 1--26
Peer reviewed
 

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Keywords :
Model predictive control; Sensor constrained control; Unmanned aerial vehicle; Localization and navigation in multi-robot systems; Distributed robotic systems operating on land, sea and air; Multi-robot and multi-vehicle motion coordination
Abstract :
[en] The global localization of multiple mobile robots can be achieved cost efficiently by localizing one robot globally and the others in relation to it using local sensor data. However, the drawback of this cooperative localization is the requirement of continuous sensor information. Due to a limited sensor perception space, the tracking task to continuously maintain this sensor information is challenging. To address this problem, this contribution is presenting a model predictive control (MPC) approach for such cooperative localization scenarios. In particular, the present work shows a novel workflow to describe sensor limitations with the help of potential functions. In addition, a compact motion model for multi-rotor drones is introduced to achieve MPC real-time capability. The effectiveness of the presented approach is demonstrated in a numerical simulation, an experimental indoor scenario with two quadrotors as well as multiple indoor scenarios of a quadrotor obstacle evasion maneuver.
Disciplines :
Computer science
Aerospace & aeronautics engineering
Author, co-author :
Dentler, Jan Eric ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Kannan, Somasundar ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Bezzaoucha, Souad ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Olivares-Mendez, Miguel Angel
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
yes
Language :
English
Title :
Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints
Publication date :
2018
Journal title :
Autonomous Robots
ISSN :
0929-5593
Pages :
1--26
Peer reviewed :
Peer reviewed
Focus Area :
Computational Sciences
Additional URL :
FnR Project :
FNR9312118 - Controller Design For Cooperative Flying Manipulation Using Small Quadrotor Uavs, 2014 (15/11/2014-14/11/2018) - Jan Eric Dentler
Available on ORBilu :
since 08 March 2018

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