Formation Control of Multiple Autonomous Vehicle Systems

This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems

Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles.

The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics.

•    Contains uniform coverage of "formation" dynamic systems development

•    Presents representative case studies in selected applications in the space, aerial and robotic systems domains

•    Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example

•    Provides open source example models and simulation codes

•    Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field

Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.

本文探討了車輛系統的編隊控制，並介紹了三種代表性的系統：太空系統、空中系統和機器人系統。

《多個自主車輛系統的編隊控制》回顧了動力學和控制的核心概念，並研究了編隊控制的動力學和控制方面，以研究太空船、無人機和機器人等各種動態車輛系統的廣泛議題。本文將焦點放在能夠實現和穩定編隊配置以及這些車輛系統的編隊重構的編隊控制上。作者們開發了一種統一的範式，用於描述車輛系統的動態行為，既涉及單個車輛的運動，也涉及整個群體的運動，以及車輛之間的相互作用。

作者解釋了如何設計適當的控制技術來調節這些車輛的編隊運動，以及開發一種系統級的決策策略，提高整個車輛群體的自主性，以執行其任務。本文充滿了太空、空中和機器人領域的實例研究。

本文具有以下特點：
- 提供了對“編隊”動態系統開發的統一覆蓋
- 在太空、空中和機器人系統領域提供了代表性的案例研究
- 以實驗平台為例，介紹了使用實驗室三自由度直升機的逐步指導
- 提供了開源的示例模型和仿真代碼
- 包含註釋和進一步閱讀，提供有關相關研究主題、最新進展和未來發展的詳細信息

《多個自主車輛系統的編隊控制》針對研究機器人和無人系統中的運動同步和編隊問題的研究人員和學者，是一個重要的資源，探討了以太空系統、空中系統和機器人系統為代表的車輛系統的運動同步和編隊控制。