Sampled-data flocking with application to unmanned rotorcraft

Brandon J. Wellman; Jesse B. Hoagg

doi:10.2514/6.2018-1856

Sampled-data flocking with application to unmanned rotorcraft

Brandon J. Wellman
, Jesse B. Hoagg

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft’s position. In addition, we use a centralized computer to calculate each rotorcraft’s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).

Original language	English
Title of host publication	AIAA Guidance, Navigation, and Control
DOIs	https://doi.org/10.2514/6.2018-1856
State	Published - Jan 1 2018
Event	AIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States Duration: Jan 8 2018 → Jan 12 2018

Publication series

Name	AIAA Guidance, Navigation, and Control Conference, 2018

Conference

Conference	AIAA Guidance, Navigation, and Control Conference, 2018
Country/Territory	United States
City	Kissimmee
Period	1/8/18 → 1/12/18

Bibliographical note

Publisher Copyright:
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

Funding

This work is supported in part by the National Science Foundation (OIA-1539070) and the National Aeronautics and Space Administration (NNX10AL96) through the NASA Kentucky Space Grant.

Funders	Funder number
NASA Kentucky Space
National Science Foundation (NSF)	OIA-1539070
National Aeronautics and Space Administration	NNX10AL96

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.2514/6.2018-1856

Cite this

@inproceedings{f0b2535dac8d4682a6ca4da46edda309,

title = "Sampled-data flocking with application to unmanned rotorcraft",

abstract = "We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft{\textquoteright}s position. In addition, we use a centralized computer to calculate each rotorcraft{\textquoteright}s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).",

author = "Wellman, \{Brandon J.\} and Hoagg, \{Jesse B.\}",

note = "Publisher Copyright: {\textcopyright} 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.; AIAA Guidance, Navigation, and Control Conference, 2018 ; Conference date: 08-01-2018 Through 12-01-2018",

year = "2018",

month = jan,

day = "1",

doi = "10.2514/6.2018-1856",

language = "English",

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AU - Hoagg, Jesse B.

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Y1 - 2018/1/1

N2 - We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft’s position. In addition, we use a centralized computer to calculate each rotorcraft’s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).

AB - We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft’s position. In addition, we use a centralized computer to calculate each rotorcraft’s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).

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UR - https://www.scopus.com/pages/publications/85141563830#tab=citedBy

U2 - 10.2514/6.2018-1856

DO - 10.2514/6.2018-1856

M3 - Conference contribution

AN - SCOPUS:85141563830

SN - 9781624105265

T3 - AIAA Guidance, Navigation, and Control Conference, 2018

BT - AIAA Guidance, Navigation, and Control

T2 - AIAA Guidance, Navigation, and Control Conference, 2018

Y2 - 8 January 2018 through 12 January 2018

ER -

Sampled-data flocking with application to unmanned rotorcraft

Abstract

Publication series

Conference

Bibliographical note

Funding

ASJC Scopus subject areas

Access to Document

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