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Hovercraft Formation | |
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This animation shows a fleet of six hovercraft that are to get into a hexagonal formation from a given starting configuration. The hovercraft are underactuated, with a forward thrust and steering control, but each hovercraft has three degrees of freedom. DMOC calculates the optimal trajectory, minimizing the overall control effort. | |
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For more information, please see:
- Junge, O., J. E. Marsden, and S. Ober-Blöbaum [2005], Discrete mechanics and optimal control, Proc. IFAC Conf, Prague, June 2005.
- Junge, O., and S. Ober-Blöbaum [2005], Optimal Reconfiguration of Formation Flying Satellites, IEEE Conference on Decision and Control and European Control Conference ECC 2005, Seville, Spain.
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©2003-2007 Jerrold E. Marsden. All Rights Reserved.