Browsing by Author "Keviczky, Tamas"

Now showing 1 - 3 of 3
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    Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations
    (Institute of Electrical and Electronics Engineers, Inc., 2008-01) Keviczky, Tamas; Borrelli, Francesco; Fregene, Kingsley; Godbole, Datta; Balas, Gary J.
    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior and plan conflict-free trajectories that maintain coordination and achieve team objectives. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory.
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    Falut-Detection Design for Uninhabited Aerial Vehicles
    (American Institute of Aeronautics and Astronautics, 2006) Rotstein, Hector P.; Ingvalson, Ryan; Keviczky, Tamas; Balas, Gary J.
    Fault Detection (FD) plays a vital role in ensuring the safety of a flight-control system, especially that of an uninhabited aerial vehicle. An FD algorithm is designed to detect a situation in which a faulty condition has occurred in the system. The main theoretical contribution of this work is a new residual threshold function, which is input dependent and enhances the FD capabilities of highly uncertain systems. The combined FD algorithm and new threshold function were simulated in the laboratory, in a high-fidelity hardware-in-the-loop environment, and flight tested as part of the Defense Advanced Research Projects Agency (DARPA) Software Enabled Control (SEC) Program. The DARPA SEC program is a research initiative designed to provide flight-control engineers with a reusable interface for the implementation of flight-control algorithms and flight management software on embedded systems.
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    Software-Enabled Receding Horizon Control for Autonomous Unmanned Aerial Vehicle Guidance
    (American Institute of Aeronautics and Astronautics, 2006) Keviczky, Tamas; Balas, Gary J.
    This paper describes autonomous unmanned aerial vehicle (UAV) guidance technologies developed and demon-strated in a flight test sponsored by the DARPA Software Enabled Control program. The flight experiment took place in June 2004 using a Boeing UAV testbed and demonstrated important autonomy capabilities enabled bya receding horizon guidance controller and fault detection filter. The receding horizon controller (RHC) design process is presented in detail as well as demonstration scenarios which were designed to exercise and evaluate the primary functionalities of the control system. Simulation results of the key capabilities are shown and compared with recorded flight data for evaluation purposes. Hardware-in-the-loop simulations and other high-fidelity test run results illustrate secondary capabilities such as controller reconfiguration due to actuator fault and maneuvering limit enforcement using output constraints in the receding horizon approach.