Control of air-ground convoy subject to communication time delay

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dc.creatorArmando Alves Neto
dc.creatorLeonardo Amaral Mozelli
dc.creatorFernando de Oliveira Souza
dc.date.accessioned2025-05-21T13:49:10Z
dc.date.accessioned2025-09-09T00:38:47Z
dc.date.available2025-05-21T13:49:10Z
dc.date.issued2019
dc.identifier.doihttps://doi.org/10.1016/j.compeleceng.2019.03.016
dc.identifier.issn0045-7906
dc.identifier.urihttps://hdl.handle.net/1843/82409
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofComputers and electrical engineering
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subject.otherAutonomous convoy
dc.subject.otherHeterogeneous robots
dc.subject.otherTime-delay communication
dc.subject.otherGround vehicles
dc.subject.otherAerial vehicles
dc.subject.otherCooperative robotics
dc.titleControl of air-ground convoy subject to communication time delay
dc.typeArtigo de periódico
local.citation.epage224
local.citation.spage213
local.citation.volume76
local.description.resumoThe problem associated with line formation (convoy) control among a team of aerial and ground vehicles is addressed by considering the fact that the vehicles share information with each other via communication channels that can be corrupted because of time delay. Among other results, we present rules for designing a decentralized control law that provides convoy stability, ensuring null formation error at steady state under the condition of constant speed, for the leader, compensating time-delay effects on the communication flow among the following vehicles. The results have been verified for convoy designs based on “look-ahead” topologies, in which each agent knows only the states of the preceding vehicles in the formation. The effectiveness of the proposed rules is finally illustrated by a simulation experiment involving a team of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), executing a scouting mission.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sciencedirect.com/science/article/pii/S0045790618319451

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