ReviewFrontiers in robotics and AI2021
Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms.
Review in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors.
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Abstract
This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware and subject to multiple state and input constraints. We provide a formal extension of the explicit reference governor framework to address the case of distributed systems. The efficacy, robustness, and scalability of the proposed theory is demonstrated by an extensive experimental validation campaign and a comparative simulation study on single and multiple nano-quadrotors. The control strategy is implemented in real-time on-board palm-sized unmanned erial vehicles, and achieves safe swarm coordination without relying on any offline trajectory computations.
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