Hossein Barghi Jond presents Flatness-based multi-UAV formation trajectory planning and directionally aware collision avoidance
On 2025-07-24 11:00:00 at E112, Karlovo náměstí 13, Praha 2
This seminar focuses on a novel approach to optimal, collision-free formation
control for multiple UAVs. Traditional optimal control methods often depend
heavily on initial guesses and involve computationally intensive numerical
techniques. In contrast, this work introduces a finite-time formation control
framework that leverages the differential flatness of UAV dynamics—completely
bypassing the need for such numerical methods. The approach formulates an
optimal trajectory planning problem solved via Pontryagin’s principle,
followed by a collision-aware tracking controller. Notably, the collision
avoidance mechanism is direction-sensitive, prioritizing threats based on
relative position and motion. High-fidelity simulations confirm the robustness
and efficiency of the proposed strategy. The approximate presentation duration
is 20 minutes.
Link to the publication:
https://www.sciencedirect.com/science/article/pii/S0016003225003606
control for multiple UAVs. Traditional optimal control methods often depend
heavily on initial guesses and involve computationally intensive numerical
techniques. In contrast, this work introduces a finite-time formation control
framework that leverages the differential flatness of UAV dynamics—completely
bypassing the need for such numerical methods. The approach formulates an
optimal trajectory planning problem solved via Pontryagin’s principle,
followed by a collision-aware tracking controller. Notably, the collision
avoidance mechanism is direction-sensitive, prioritizing threats based on
relative position and motion. High-fidelity simulations confirm the robustness
and efficiency of the proposed strategy. The approximate presentation duration
is 20 minutes.
Link to the publication:
https://www.sciencedirect.com/science/article/pii/S0016003225003606