Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms
Open Access
- 22 June 2021
- journal article
- review article
- Published by Frontiers Media SA in Frontiers in Robotics and AI
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.Funding Information
- Fonds Wetenschappelijk Onderzoek (37472 60523 62062)
- Vlaamse regering (Onderzoeksprogramma Artificiële Intelligentie (AI) Vlaanderen)
- National Science Foundation (CMMI 1904441)
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