Webinar Details
Coordinating a fleet of vehicles is hard enough when they’re identical. What happens when your network mixes wheeled mobile robots, surface vessels, submarines, and drones, each with its own underactuated dynamics and no shared frame of reference?
This webinar presents a nonlinear decentralized formation control solution built for exactly that challenge. Both planar vehicles (wheeled mobile robots, surface vessels) and spatial vehicles (submarines and drones) are included in vehicle networks without any simplification.
By exploiting the cascaded structure of the vehicle models, a transformation is introduced to define the reduced order error dynamics, and a nonlinear control law is proposed. The result: a low-level controller for each vehicle that requires only relative position and local motion information from its neighbors, no centralized coordination, no global state.
The talk closes with experimental implementation of the control system on vehicle networks comprised of QDrones and QBots, showing the theory in action on real hardware.
Presenter’s Bio
Dr. Hashem Ashrafiuon
Hashem Ashrafiuon received his BS, MS, and PhD degrees in Mechanical Engineering from the State University of New York at Buffalo. He joined Villanova University faculty after graduating in 1988 and currently holds the position of Professor in the Mechanical Engineering Department. He is eh founding director of the L3Harris Heterogeneous Autonomous Vehicle Laboratory. He is a Fellow of ASME, and a senior member of IEEE. His current research primarily focuses on nonlinear decentralized network control of heterogeneous autonomous vehicles that include marine, air, and ground vehicles.
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