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dc.contributor.authorJusth, Eric W.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.date.accessioned2007-05-23T10:12:08Z
dc.date.available2007-05-23T10:12:08Z
dc.date.issued2002en_US
dc.identifier.urihttp://hdl.handle.net/1903/6274
dc.description.abstractThis paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. <p>The vehicle trajectories are described using planar Frenet-Serret equations of motion, which capture the evolution of both the vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The set of all possible (relative) equilibria for arbitrary <I>G</I>-invariant curvature controls is described (where <I>G = SE(2)</I> is a symmetry group for the control law). A generalization of the control law for <I>n</I> vehicles is presented, and the corresponding (relative) equilibria are characterized. Work is on-going to discover stability and convergence results for the <I>n</I>-vehicle problem. <p>The practical motivation for this work is the problem of formation control for meter-scale UAVs; therefore, an implementation approach consistent with UAV payload constraints is also discussed.en_US
dc.format.extent542541 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 2002-38en_US
dc.subjectSensor-Actuator Networksen_US
dc.titleA Simple Control Law for UAV Formation Flyingen_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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