Recent Research in Cooperative Control of Multivehicle Systems

[+] Author and Article Information
Richard M. Murray

Control and Dynamical Systems, California Institute of Technology, Pasadena, CA 91125

J. Dyn. Sys., Meas., Control 129(5), 571-583 (May 03, 2007) (13 pages) doi:10.1115/1.2766721 History: Received September 11, 2006; Revised May 03, 2007

This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus.

Copyright © 2007 by American Society of Mechanical Engineers
Topics: Vehicles
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Figure 1

Battle space management scenario illustrating distributed command and control between heterogeneous air and ground assets (courtesy of DARPA)

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Figure 2

Four-vehicle formation using distributed receding horizon control (25)

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Figure 3

Formation stabilization using potential functions (29): (a) Stabilization of three vehicles in the plane, (b) time traces for individual positions of the vehicles, (c) stabilization of a six vehicle formation

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Figure 4

String stability results for a five-vehicle formation (31). Each column represents a different information topology, as shown in the diagram at the top of the column. The first row of plots corresponds to the use of purely local information, whereas the second two rows allow increasing amounts of global information.

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Figure 5

A squeezing maneuver using flocking algorithms of Olfati-Saber (36)

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Figure 6

Resource allocation using mixed integer linear programing (38)

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Figure 8

Coverage control applied to a polygonal region with Gaussian density function around the point in the upper right (48)

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Figure 9

Interpretation of Theorem 1: On the left, the graph representation of the interconnected system is shown and on the right, the corresponding Nyquist test is shown. The addition of the dashed line to the graph moves the negative, inverse eigenvalues of L¯ from the positions marked by circles to those marked by crosses.

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Figure 10

Control architecture for a networked control system



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