Hybrid control for aggressive maneuvering of autonomous aerial vehicles

Marc W. McConley, Michael D. Piedmonte, Brent D. Appleby, Emilio Frazzoli, Eric Feron, Munther A. Dahleh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


New advances in control theory are required to enable aggressive maneuvering of autonomous vehicles, while adapting in real time to changes in the operational environment. A hybrid control architecture, the states of which represent feasible trajectory primitives, is constructed to reduce the complexity of the motion-planning problem for a nonlinear, high-dimensional system such as an aerial vehicle. Any feasible trajectories in the primitive list are available to the automatic control system; these may include a complete set of transitions between pairs of trim trajectories in addition to pilot-inspired behaviors recorded during manual flight tests with a human pilot. This paper describes the structure of a hybrid automaton that solves a time-optimal motion-planning problem by sequencing maneuvers in real time from such a primitive list. The algorithm can be used in a free workspace, or in the presence of fixed or moving obstacles. We present simulation results showing the effectiveness of this approach for a behavior library generated by a combination of analysis and live flight tests with a small remote-controlled helicopter.
Original languageEnglish (US)
Title of host publicationAIAA/IEEE Digital Avionics Systems Conference - Proceedings
PublisherIEEEPiscataway, NJ, United States
StatePublished - Dec 1 2000
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2021-02-18


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