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Kähler dynamics for the universal multi-robot fleet. (English) Zbl 1388.32020

Summary: A general model is formulated for a universal fleet of all unmanned vehicles, including Aerial Vehicles (UAVs), Ground Vehicles (UGVs), Sea Vehicles (USVs) and Underwater Vehicles (UUVs), as a geometric Kähler dynamics and control system. Based on the Newton-Euler dynamics of each vehicle, a control system for the universal autonomous fleet is designed as a combined Lagrangian and Hamiltonian form. The associated continuous system representing a very large universal fleet is given in Appendix in the form of the Kähler-Ricci flow.

MSC:

32Q15 Kähler manifolds
37J99 Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems
68T40 Artificial intelligence for robotics
70E60 Robot dynamics and control of rigid bodies
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