Coverage of curves in 3D with swarms of nonholonomic aerial robots
نویسندگان
چکیده
This paper presents a vector field based methodology for coverage of curves in threedimensional spaces with large groups of fixed-wing aerial robots. We model the robots as spheres with an associated nonholonomic kinematic model with minimum forward speed constraint. Under certain assumptions we guarantee that the robots will converge to and circulate along a desired curve avoiding inter-robot collisions while satisfying the constraints.
منابع مشابه
Czech Technical University in Prague F 3 Faculty of Electrical EngineeringDepartment of Cybernetics Distributed Cohesive Control for Swarms of Micro
This thesis deals with distributed cohesive control of swarms of dimensionless particles and applicability of this approach for using with swarms of micro aerial vehicles. I have implemented a set of algorithms presented in [11] that leads to the cohesive swarm behavior of ground robots in a plane and extended these algorithms to 3D space for control of unmanned aerial vehicles. The behavior of...
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