Open AccessMulti-task Cooperative Control in a Heterogeneous Ground-Air Robot Team
Author(s) -
Lorenzo Rosa,
Marco Cognetti,
Andrea Nicastro,
Pol Alvarez,
Giuseppe Oriolo
Publication year - 2015
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2015.06.463
Subject(s) - task (project management) , matlab , obstacle avoidance , computer science , robot , scheme (mathematics) , obstacle , simulation , stability (learning theory) , visual servoing , real time computing , artificial intelligence , computer vision , control engineering , engineering , mobile robot , systems engineering , mathematics , operating system , machine learning , law , mathematical analysis , political science
For a heterogeneous multi-robot system composed by an Unmanned Aerial Vehicle (UAV) equipped with a camera and several Unmanned Ground Vehicles (UGVs), we design a cooperative control scheme aimed at realizing a primary visual task, specifically designed to allow relative localization of the UGVs by the UAV, along with a generic secondary task to be carried out by the UGVs. The stability of the closed-loop system is formally proven. Inclusion of other behaviors, such as system navigation and ground obstacle avoidance, is considered. The theoretical results are validated by simulations in MATLAB and Gazebo/ROS.
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom