Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms

Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms

This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware and subject to multiple state and input constraints. We provide a formal extension of the explicit...

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Bibliographic Details
Main Authors: Bryan Convens, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-06-01
Series:Frontiers in Robotics and AI
Subjects:
aerial robotics control
multi-robot systems
actuator saturation
distributed collision avoidance
guaranteed safety
human-swarm interaction
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.663809/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.663809/full

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