Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication

Maurizio Porfiri, D. Gray Roberson, Daniel J. Stilwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Environmental tracking and formation control for a platoon of autonomous vehicles is studied. Vehicles travel through an environment that possesses a measurable scalar field, with the goal of moving in a desired spatial pattern about a desired constant value contour in the field. Each vehicle measures the local value of the field along its trajectory and shares information about its measurements and trajectory with other vehicles in the platoon. Platoon control involves estimation of a virtual leader trajectory coinciding with the target contour and about which vehicles form. Two approaches to leader estimation are considered. The first involves the synthesis of a common leader trajectory, whereas the second involves decentralized estimation of the leader trajectory by individual vehicles. Under the second approach, platoon control is posed as a two-level consensus problem, where vehicles reach agreement on the leader trajectory at one level and reach formation about the leader at the other level. The decentralized approach is effective even when communication among vehicles is limited. A target application involving an underwater vehicle platoon is considered.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages595-600
Number of pages6
Volume2006
DOIs
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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Communication
Trajectories

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Porfiri, M., Roberson, D. G., & Stilwell, D. J. (2006). Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (Vol. 2006, pp. 595-600). [1641775] https://doi.org/10.1109/ROBOT.2006.1641775

Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication. / Porfiri, Maurizio; Roberson, D. Gray; Stilwell, Daniel J.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. p. 595-600 1641775.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Porfiri, M, Roberson, DG & Stilwell, DJ 2006, Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. vol. 2006, 1641775, pp. 595-600, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641775
Porfiri M, Roberson DG, Stilwell DJ. Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006. 2006. p. 595-600. 1641775 https://doi.org/10.1109/ROBOT.2006.1641775
Porfiri, Maurizio ; Roberson, D. Gray ; Stilwell, Daniel J. / Environmental tracking and formation control of a platoon of autonomous vehicles subject to limited communication. Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. pp. 595-600
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