In this paper, we present a complete LiDAR SLAM framework, SCL-SLAM, by integrating the loop closure module with the Scan Context descriptor into the tightly-coupled LiDAR-Inertial odometry FAST-LIO2. As a front-end, the direct LiDAR-Inertial odometry module efficiently and robustly produces motion estimates and undistorted scans. Toward the global localization based on 3D LiDAR scans, the lightweight Scan Context descriptor is used in the loop detection module. Additionally, the scan input is filtered through the keyframe selection module to improve the computation efficiency. As a back-end, a pose graph optimization is performed for the optimized trajectory and globally consistent map. SCL-SLAM is extensively evaluated on public datasets and a robot platform over various scales and environments. Experimental result shows that SCL-SLAM achieves higher accuracy than other state-of-art LiDAR SLAM systems and real-time performance. We also extend the proposed system to a centralized architecture SLAM framework for the robot team to use with 3D LiDAR observations.
{"title":"SCL-SLAM: A Scan Context-enabled LiDAR SLAM Using Factor Graph-Based Optimization","authors":"Zhiqiang Chen, Yuhua Qi, Shipeng Zhong, Dapeng Feng, Qiming Chen, Hongbo Chen","doi":"10.1109/ICUS55513.2022.9987005","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987005","url":null,"abstract":"In this paper, we present a complete LiDAR SLAM framework, SCL-SLAM, by integrating the loop closure module with the Scan Context descriptor into the tightly-coupled LiDAR-Inertial odometry FAST-LIO2. As a front-end, the direct LiDAR-Inertial odometry module efficiently and robustly produces motion estimates and undistorted scans. Toward the global localization based on 3D LiDAR scans, the lightweight Scan Context descriptor is used in the loop detection module. Additionally, the scan input is filtered through the keyframe selection module to improve the computation efficiency. As a back-end, a pose graph optimization is performed for the optimized trajectory and globally consistent map. SCL-SLAM is extensively evaluated on public datasets and a robot platform over various scales and environments. Experimental result shows that SCL-SLAM achieves higher accuracy than other state-of-art LiDAR SLAM systems and real-time performance. We also extend the proposed system to a centralized architecture SLAM framework for the robot team to use with 3D LiDAR observations.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128086630","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9987220
F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao
The interferometric constellations are widely applied to high-precision measurement in space, such as space gravitational waves detection. Uncertain propagation study of constellations can provide guidance for configuration design, but highly nonlinear dynamics and large evolution time make it very difficult. This paper aims at the uncertainty propagation of the geocentric interferometric constellations under the action of complex conservative forces. First, the configuration parameters of a constellation are introduced. The magnitudes of the conservative perturbations at different orbital altitudes are analyzed, including the third body perturbations from the Moon, the Sun and the Earth's non-spherical perturbation. Secondly, the initial state of the constellation is represented by the set of orbital elements of each spacecraft. The deviations of the orbital elements are separately applied to the initial configurations of different orientations and sizes to study the configuration uncertainty propagations. It is found that the accumulation of phase deviation is the major factor leading to the configuration deformation. The uncertainty magnitude of the constellation is inversely related to the configurational size. Besides, the configuration of the constellations, whose orbital period is resonated with the Moon, should be avoided in the mission design.
{"title":"Configuration Uncertainty Propagation of Geocentric Interferometric Constellation with Respect to Orbital Element Errors","authors":"F. Jia, Xiangyu Li, Xingyu Zhou, D. Qiao","doi":"10.1109/ICUS55513.2022.9987220","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987220","url":null,"abstract":"The interferometric constellations are widely applied to high-precision measurement in space, such as space gravitational waves detection. Uncertain propagation study of constellations can provide guidance for configuration design, but highly nonlinear dynamics and large evolution time make it very difficult. This paper aims at the uncertainty propagation of the geocentric interferometric constellations under the action of complex conservative forces. First, the configuration parameters of a constellation are introduced. The magnitudes of the conservative perturbations at different orbital altitudes are analyzed, including the third body perturbations from the Moon, the Sun and the Earth's non-spherical perturbation. Secondly, the initial state of the constellation is represented by the set of orbital elements of each spacecraft. The deviations of the orbital elements are separately applied to the initial configurations of different orientations and sizes to study the configuration uncertainty propagations. It is found that the accumulation of phase deviation is the major factor leading to the configuration deformation. The uncertainty magnitude of the constellation is inversely related to the configurational size. Besides, the configuration of the constellations, whose orbital period is resonated with the Moon, should be avoided in the mission design.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129399966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986991
Yiming Li, Bin Jiang, Junan Yang, Jian Wang, Beibei Li, Keju Huang, Kun Shao
An online trajectory planner permits autonomous unmanned vehicles to maneuver in a changing mission scenario and varying environment. However, in real-time online plannings, task performance, completeness and accuracy is seriously challenged by the latency during mission planning and scheme computation. To address the issue, we propose a latency-correcting online trajectory planner based on successive convex approximation (SCA), which is aiming at offset the latency in the planning. In this work, two types of latency are considered, i.e., a prior known variable and computation, where the latter one poses a problem. With this, we devise an online latency method to predict computing latency by conducting time complexity analysis. The experiment is to design an optimal UAV trajectory to serve the eavesdropping of an uncooperative emitter. The results showed this harmful latency effect, and then demonstrated the improved accuracy and task performance of the proposed planner.
{"title":"A Latency-offset Online Trajectory Planner based on Successive Convex Approximation","authors":"Yiming Li, Bin Jiang, Junan Yang, Jian Wang, Beibei Li, Keju Huang, Kun Shao","doi":"10.1109/ICUS55513.2022.9986991","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986991","url":null,"abstract":"An online trajectory planner permits autonomous unmanned vehicles to maneuver in a changing mission scenario and varying environment. However, in real-time online plannings, task performance, completeness and accuracy is seriously challenged by the latency during mission planning and scheme computation. To address the issue, we propose a latency-correcting online trajectory planner based on successive convex approximation (SCA), which is aiming at offset the latency in the planning. In this work, two types of latency are considered, i.e., a prior known variable and computation, where the latter one poses a problem. With this, we devise an online latency method to predict computing latency by conducting time complexity analysis. The experiment is to design an optimal UAV trajectory to serve the eavesdropping of an uncooperative emitter. The results showed this harmful latency effect, and then demonstrated the improved accuracy and task performance of the proposed planner.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129778571","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986633
Tianxing Chen, X. Zhuang, Zhiwei Hou, Hongbo Chen
In this paper, a development solution based on Pixhawk and Robot Operating System (ROS) is proposed for the research and application of autonomous quadrotor flight with a rotor failure. The solution adopts the ROS development framework, which allows users to design the fault-tolerant controller for quadrotor directly in ROS to update control signals in high frequency. In addition, the proposed solution can be further validated using the ROS-Gazebo visual simulation environment for different types of fault-tolerant controllers and deployed in real quadrotor. Finally, a specific fault-tolerant controller and its control effects are given in this paper to show the effectiveness and advantages of the proposed solution.
{"title":"A Pixhawk-ROS Based Development Solution for the Research of Autonomous Quadrotor Flight with a Rotor Failure","authors":"Tianxing Chen, X. Zhuang, Zhiwei Hou, Hongbo Chen","doi":"10.1109/ICUS55513.2022.9986633","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986633","url":null,"abstract":"In this paper, a development solution based on Pixhawk and Robot Operating System (ROS) is proposed for the research and application of autonomous quadrotor flight with a rotor failure. The solution adopts the ROS development framework, which allows users to design the fault-tolerant controller for quadrotor directly in ROS to update control signals in high frequency. In addition, the proposed solution can be further validated using the ROS-Gazebo visual simulation environment for different types of fault-tolerant controllers and deployed in real quadrotor. Finally, a specific fault-tolerant controller and its control effects are given in this paper to show the effectiveness and advantages of the proposed solution.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129595926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, the affine formation control problem is adressed using event-triggered method based on the sample data. Individuals in this system has first-order dynamics. Two different methods basing on sampled information are developed respectively. Zeno behavior is excluded as a result of the sampling schemein. Continous communication is avoided in self-triggered strategy. It can be proved that affine formation is realized eventually under two proposed control schemes. Finally, numerical examples show the validity of proposed strategies.
{"title":"Sampled-data-based Event-triggered Affine Formation Control for Multi-agent Systems with Intergrator Dynamics","authors":"Xiaofeng Chai, Yue Sun, Na Zhang, Shuai Ma, Yuxiang Wang, Qi Diao","doi":"10.1109/ICUS55513.2022.9987105","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987105","url":null,"abstract":"In this paper, the affine formation control problem is adressed using event-triggered method based on the sample data. Individuals in this system has first-order dynamics. Two different methods basing on sampled information are developed respectively. Zeno behavior is excluded as a result of the sampling schemein. Continous communication is avoided in self-triggered strategy. It can be proved that affine formation is realized eventually under two proposed control schemes. Finally, numerical examples show the validity of proposed strategies.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126920323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Unmanned Aerial Vehicle(UAVs) swarm has great advantage over traditional equipment in cooperative detection scenario for its easy-maneuverability, no human injury and low cost, etc. As a representative task in cooperative detection, region coverage has widely applications in environmental monitoring, search and rescue, etc. In UAV cooperative detection tasks, the most critical step is task planning, which has direct impact on the overall detection performance. The target of task planning is to generate planned actions and flight route for UAVs to complete specific detection task according to UAV swarm locations, sensor ability, task region, etc. However, traditional task planning methods for UAV cooperative detection that based on evolutionary computing or reinforcement learning always need plenty of time for getting planning results. In this paper, we proposed a top-down task planning algorithm based on greedy policy to tackle this problem. The core idea of the proposed method lies in that we choose optimal detection trace from all trace candidates during each planning step in a greedy manner via a predefined performance indicator. Moreover, we also proposed a simple but effective procedure for generate detection trace candidates by corner points and nearest border points extraction. To evaluate the effectiveness of the proposed method, we conducted comprehensive experiments for the representative swarm detection task region coverage. Experiment results demonstrated the effectiveness of the proposed method and superiority over traditional methods on task planning speed.
{"title":"Automatic UAV Swarm Task Planning in Cooperative Region Coverage Detection based on Greedy Policy","authors":"Rentuo Tao, Shikang Li, Xianzhe Xu, Yawei Chen, Linghao Xia, Yuhao Yang","doi":"10.1109/ICUS55513.2022.9986918","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986918","url":null,"abstract":"Unmanned Aerial Vehicle(UAVs) swarm has great advantage over traditional equipment in cooperative detection scenario for its easy-maneuverability, no human injury and low cost, etc. As a representative task in cooperative detection, region coverage has widely applications in environmental monitoring, search and rescue, etc. In UAV cooperative detection tasks, the most critical step is task planning, which has direct impact on the overall detection performance. The target of task planning is to generate planned actions and flight route for UAVs to complete specific detection task according to UAV swarm locations, sensor ability, task region, etc. However, traditional task planning methods for UAV cooperative detection that based on evolutionary computing or reinforcement learning always need plenty of time for getting planning results. In this paper, we proposed a top-down task planning algorithm based on greedy policy to tackle this problem. The core idea of the proposed method lies in that we choose optimal detection trace from all trace candidates during each planning step in a greedy manner via a predefined performance indicator. Moreover, we also proposed a simple but effective procedure for generate detection trace candidates by corner points and nearest border points extraction. To evaluate the effectiveness of the proposed method, we conducted comprehensive experiments for the representative swarm detection task region coverage. Experiment results demonstrated the effectiveness of the proposed method and superiority over traditional methods on task planning speed.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127230607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986942
Weiwei Zhan, Zhiqiang Miao, Yanjie Chen, Yaonan Wang
In this paper, we solve the formation problem of nonholonomic mobile robots (NMRs) over noisy communication networks. The communication signals with noisy information are exchanged among different NMRs by a directed graph. Only the individual mobile robot directly receives the actual and feasible signals itself without communication. Besides, the sensor-to-control signals suffering from the noise are modeled by a nonlinear function including unknown parameters and uncertainties. Combined with the adaptive control technique and robust control technique, the unknown parameters and uncertainties of noisy signal models are respectively estimated and compensated, respectively. Then, a novel distributed adaptive formation controller is proposed to guarantee convergence to the optimal positions over noisy communication networks. It is proved that the formation errors are convergent to a small neighbourhood of origin and closed-loop signals of each NMRs are bounded. A simulation example is given to demonstrate the theoretical studies.
{"title":"Distributed Adaptive Formation Control for Nonholonomic Mobile Robots over Noisy Communication Networks","authors":"Weiwei Zhan, Zhiqiang Miao, Yanjie Chen, Yaonan Wang","doi":"10.1109/ICUS55513.2022.9986942","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986942","url":null,"abstract":"In this paper, we solve the formation problem of nonholonomic mobile robots (NMRs) over noisy communication networks. The communication signals with noisy information are exchanged among different NMRs by a directed graph. Only the individual mobile robot directly receives the actual and feasible signals itself without communication. Besides, the sensor-to-control signals suffering from the noise are modeled by a nonlinear function including unknown parameters and uncertainties. Combined with the adaptive control technique and robust control technique, the unknown parameters and uncertainties of noisy signal models are respectively estimated and compensated, respectively. Then, a novel distributed adaptive formation controller is proposed to guarantee convergence to the optimal positions over noisy communication networks. It is proved that the formation errors are convergent to a small neighbourhood of origin and closed-loop signals of each NMRs are bounded. A simulation example is given to demonstrate the theoretical studies.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114396411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986897
Fei Suo, Jiaqi Lv, Zhan Wang
Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.
{"title":"The Implementation of the SLAM Method in ROS System and Underwater Robot","authors":"Fei Suo, Jiaqi Lv, Zhan Wang","doi":"10.1109/ICUS55513.2022.9986897","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986897","url":null,"abstract":"Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122883205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9987068
J. Xiong, Juan Li, Jie Li
When employing swarms of unmanned aerial vehicles (UAVs) in communication-constrained environments, it is of vital importance to coordinate their actions in cooperation despite sparse and unreliable communication channels. This paper proposes an adaptive dual-phased threshold-based assignment scheme for robust coordination under lossy communication. The assignment scheme is inspired by features in handshake protocols, using records upon failed communications to keep track of swarm mates and consensus rates. Resendings of vital information pieces within core steps of assignment negotiation are arranged to increase consensus rates above the threshold. The resendings are constrained by switching criteria designed to balance between information integrity and assignment timeliness. The overall scheme is termed Robust Assignment under Lossy Communication (RALC). The proposed RALC is evaluated at various levels of communication reliability, using the Bernoulli model and the Gilbert-Elliott model. Numerical experiments demonstrate superior performance of the proposed RALC against the Consensus-Based Auction Algorithm (CBAA), the Probability- Tuned Market-based Allocation (PTMA), and the Repeated G- Prim auction (RGPrim) in communication degraded scenarios.
{"title":"Adaptive Assignment Re-Consensus in Communication-Constrained Environments","authors":"J. Xiong, Juan Li, Jie Li","doi":"10.1109/ICUS55513.2022.9987068","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987068","url":null,"abstract":"When employing swarms of unmanned aerial vehicles (UAVs) in communication-constrained environments, it is of vital importance to coordinate their actions in cooperation despite sparse and unreliable communication channels. This paper proposes an adaptive dual-phased threshold-based assignment scheme for robust coordination under lossy communication. The assignment scheme is inspired by features in handshake protocols, using records upon failed communications to keep track of swarm mates and consensus rates. Resendings of vital information pieces within core steps of assignment negotiation are arranged to increase consensus rates above the threshold. The resendings are constrained by switching criteria designed to balance between information integrity and assignment timeliness. The overall scheme is termed Robust Assignment under Lossy Communication (RALC). The proposed RALC is evaluated at various levels of communication reliability, using the Bernoulli model and the Gilbert-Elliott model. Numerical experiments demonstrate superior performance of the proposed RALC against the Consensus-Based Auction Algorithm (CBAA), the Probability- Tuned Market-based Allocation (PTMA), and the Repeated G- Prim auction (RGPrim) in communication degraded scenarios.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132836262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1109/ICUS55513.2022.9986768
G. Wen
Distributed leader escort control and bipartite time-varying formation tracking (BTFT) problems are investigated respectively in this paper for a group of multiple autonomous surface vessels (ASVs) in the presence of a dynamic leader. To facilitate the analysis, it is assumed that the velocity and acceleration of the dynamic leader are bounded. By utilizing signed graphs, the following ASVs are divided into two groups to form different time-varying formation configurations. Then, two new kinds of controllers are designed respectively for completing the distributed leader escort control and BTFT tasks under the mild condition that only parts of the following ASVs can obtain the leader's information. By using tools from Lyapunov stability theory and sliding mode control theory, it is proven that the objectives of distributed leader escort control and BTFT can be respectively achieved asymptotically under the designed controllers with appropriate control gains. The results are further extended to the scenarios where the dynamics of following ASVs subject to uncertain Coriolis and centripetal matrix, and uncertain damping matrix. At last, some numerical simulations are presented to illustrate the validity of the designed controllers.
{"title":"On distributed leader escort control and bipartite time-varying formation tracking of multiple ASVs","authors":"G. Wen","doi":"10.1109/ICUS55513.2022.9986768","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986768","url":null,"abstract":"Distributed leader escort control and bipartite time-varying formation tracking (BTFT) problems are investigated respectively in this paper for a group of multiple autonomous surface vessels (ASVs) in the presence of a dynamic leader. To facilitate the analysis, it is assumed that the velocity and acceleration of the dynamic leader are bounded. By utilizing signed graphs, the following ASVs are divided into two groups to form different time-varying formation configurations. Then, two new kinds of controllers are designed respectively for completing the distributed leader escort control and BTFT tasks under the mild condition that only parts of the following ASVs can obtain the leader's information. By using tools from Lyapunov stability theory and sliding mode control theory, it is proven that the objectives of distributed leader escort control and BTFT can be respectively achieved asymptotically under the designed controllers with appropriate control gains. The results are further extended to the scenarios where the dynamics of following ASVs subject to uncertain Coriolis and centripetal matrix, and uncertain damping matrix. At last, some numerical simulations are presented to illustrate the validity of the designed controllers.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130212381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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