Applications of unmanned vehicles can increase combat effectiveness and personnel safety. These include reconnaissance, surveillance, target acquisition, logistics, minefield and other obstacle detection, explosive disposal, physical security, and operations in contaminated environments. Better communication and GPS technologies are necessary for a convoy of unmanned vehicles to accurately foll...

This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the leader for motions along line of sight as well as the obliquely inclined directions are considered based on pixel variation of the images by referencing to two arbitrarily designated po...

This paper presents vision-based control strategies for decentralized stabilization of unmanned vehicle formations. Three leader–follower formation control algorithms, which ensure asymptotic co-ordinated motion, are described and compared. The first algorithm is a full state feedback nonlinear controller that requires full knowledge of the leader’s velocities and accelerations. The second algo...

In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle (UAV) helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its positi...

Improvements in hybrid electric vehicle fuel economy with reduced emissions strongly depend on their supervisory control strategy. In order to develop an efficient real-time supervisory control strategy for a series hybrid electric bus, the proposed equivalent fuel consumption optimal control strategy is compared with two popular strategies, thermostat and power follower, using backward simulat...

In this paper we focus on solving a path following problem and keeping a geometrical formation. The problem of formation control is divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path, while each follower agent tracks a trajectory, estimated by using the leader’s information. In this paper, we exploit nonlinear model predictive co...

This paper studies a formation control problem for nonlinear multi-agent systems; specifically non-holonomic vehicles represented as linear parameter-varying (LPV) models are of interest here. The objective of this study is twofold. First, we demonstrate the applicability of a novel approach to distributed control for LPV decomposable systems (Hoffmann et al., 2013). Second, we investigate diff...

The automotive industry has experienced swift development with the rapid growth of economy. increasing number vehicles led to deteriorating road traffic conditions, increased consumption nonrenewable energy, and excessive vehicle emissions. To tackle problems fuel efficiency safety control for platoons, this study suggests a novel leader-follower optimal method platoons improve efficiency. Depe...

This paper presents a classic missile-type parallel-approach guidance law for fixed-wing UAVs in coordinated formation flight. The key idea of the proposed is to drive each follower follow virtual target point. Considering turning ability follower, form adopts semi-perfect rigid form, which does not require vehicle positions formation, and orientations keep consensus. According mission characte...

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant...