Recent research in cooperative control of multivehicle systems

Richard M Murray
Journal Of Dynamic Systems Measurement And Control-Transactions Of The Asme, 129:571-583

This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus.

• Preprint: http://www.cds.caltech.edu/~murray/preprints/mur07-dsmc.pdf
• Project(s):