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Probabilistic guidance of distributed systems using sequential convex programming

Morgan, Daniel and Subramanian, Giri Prashanth and Bandyopadhyay, Saptarshi and Chung, Soon-Jo and Hadaegh, Fred Y. (2014) Probabilistic guidance of distributed systems using sequential convex programming. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 3850-3857. ISBN 978-1-4799-6934-0. http://resolver.caltech.edu/CaltechAUTHORS:20161222-115746072

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Abstract

In this paper, we integrate, implement, and validate formation flying algorithms for a large number of agents using probabilistic guidance of distributed systems with inhomogeneous Markov chains and model predictive control with sequential convex programming. Using an inhomogeneous Markov chain, each agent determines its target position during each iteration in a statistically independent manner while the distributed system converges to the desired formation. Moreover, the distributed system is robust to external disturbances or damages to the formation. Once the target positions are assigned, an optimal control problem is formulated to ensure that the agents reach the target positions while avoiding collisions. This problem is solved using sequential convex programming to determine optimal, collision-free trajectories and model predictive control is implemented to update these trajectories as new state information becomes available. Finally, we validate the probabilistic guidance of distributed systems and model predictive control algorithms using the formation flying testbed.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/IROS.2014.6943103DOIArticle
http://ieeexplore.ieee.org/document/6943103/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2014 IEEE. Date Added to IEEE Xplore: 06 November 2014. This research was supported in part by AFOSR grant FA95501210193 and a NASA Space Technology Research Fellowship (NNX11AM84H). This research was carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. © 2014 California Institute of Technology. Government sponsorship acknowledged.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95501210193
NASANNX11AM84H
NASA/JPL/CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20161222-115746072
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161222-115746072
Official Citation:D. Morgan, G. P. Subramanian, S. Bandyopadhyay, S. J. Chung and F. Y. Hadaegh, "Probabilistic guidance of distributed systems using sequential convex programming," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 3850-3857. doi: 10.1109/IROS.2014.6943103
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:73158
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:23 Dec 2016 00:06
Last Modified:04 Jan 2017 19:30

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