Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Bao Q. Nguyen; Yao Li Chuang; David Tung; Chung Hsieh; Zhipu Jin; Ling Shi; Daniel Marthaler; Andrea Bertozzi; Richard M. Murray

Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Bao Q. Nguyen^*, Yao Li Chuang, David Tung, Chung Hsieh, Zhipu Jin, Ling Shi, Daniel Marthaler, Andrea Bertozzi, Richard M. Murray

^*Corresponding author for this work

Research output: Contribution to journal › Conference article published in journal › peer-review

37 Citations (Scopus)

Abstract

We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

Original language	English
Article number	WeB16.5
Pages (from-to)	1084-1089
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	2
Publication status	Published - 2005
Externally published	Yes
Event	2005 American Control Conference, ACC - Portland, OR, United States Duration: 8 Jun 2005 → 10 Jun 2005

Cite this

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title = "Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT",

abstract = "We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.",

author = "Nguyen, \{Bao Q.\} and Chuang, \{Yao Li\} and David Tung and Chung Hsieh and Zhipu Jin and Ling Shi and Daniel Marthaler and Andrea Bertozzi and Murray, \{Richard M.\}",

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journal = "Proceedings of the American Control Conference",

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AU - Nguyen, Bao Q.

AU - Chuang, Yao Li

AU - Tung, David

AU - Hsieh, Chung

AU - Jin, Zhipu

AU - Shi, Ling

AU - Marthaler, Daniel

AU - Bertozzi, Andrea

AU - Murray, Richard M.

PY - 2005

Y1 - 2005

N2 - We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

AB - We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a point to point controller which is subsequently used as part of a cooperative searching algorithm. The VARP control method is scalable and can be used to organize a swarm of robotic vehicles.

UR - https://www.scopus.com/pages/publications/23944483518

M3 - Conference article published in journal

AN - SCOPUS:23944483518

SN - 0743-1619

VL - 2

SP - 1084

EP - 1089

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

M1 - WeB16.5

T2 - 2005 American Control Conference, ACC

Y2 - 8 June 2005 through 10 June 2005

ER -

Virtual attractive-repulsive potentials for cooperative control of second order dynamic vehicles on the Caltech MVWT

Abstract

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