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Airship formation control
Bicho, E.; Moreira, André; Diegues, Sérgio; Carvalheira, Manuel Pereira; Monteiro, SérgioThis paper addresses the problem underlying the control and coordination of multiple autonomous airships that must travel maintaining a desired geometric formation and simultaneously avoid collisions with moving or stationary obstacles. The control architecture is based on the attractor dynamics approach to behaviour generation. The airship physical model is presented and the mathematical background for the con...
Control of floating robots using attractor dynamics
Bicho, E.; Moreira, André; Carvalheira, Manuel PereiraTo enable floating robots to autonomously reach for a target position while avoiding obstacles we have generalized the attractor dynamics approach established for wheeled mobile robots to motion generation in blimps or lighter-than-air vehicles. In this approach the level of modelling is at the level of behaviours. A “dynamics'' of behaviour is defined over a state space of behavioural variables (heading direct...
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