Kähler Dynamics for the Universal Multi-Robot Fleet

Abstract

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.