A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

被引：0

作者：

Harik, El Houssein Chouaib ^{[1
]}

Guinand, Frederic ^{[1
]}

Pelvillain, Herve ^{[2
]}

Guerin, Francois ^{[3
]}

Brethe, Jean-Francois ^{[3
]}

机构：

[1] Univ Havre, LITIS, Le Havre, France

[2] Univ Havre, IUT, Le Havre, France

[3] Univ Havre, GREAH, Le Havre, France

来源：

2015 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS ICCAR 2015 | 2015年

关键词：

unmanned aerial vehicles; unmanned ground vehicles; air-ground-cooperation; non-linear kinematic controller; DES algorithm; PURSUIT-EVASION GAMES; AIR;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.

引用

页码：37 / 43

页数：7

共 24 条

[1]

[Anonymous], 1995, Data Fusion and Sensor Management: a decentralized information-theoretic approach

[2]

[Anonymous], 2015, EXPT 2 AUTONOMOUS FL

[3]

[Anonymous], 2015, EXPT 1 PILOT AIDED F

[4] Full control of a quadrotor [J].

Bouabdallah, Samir ;

Siegwart, Roland .

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, :153-158

[5] Experiments in multirobot air-ground coordination [J].

Chaimowicz, L ;

Grocholsky, B ;

Keller, JF ;

Kumar, V ;

Taylor, CJ .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :4053-4058

[6]

Chaimowicz L., 2004, P 10 INT C ROB REM S

[7] Aerial shepherds: Coordination among UAVs and swarms of robots [J].

Chaimowicz, Luiz ;

Kumar, Vijay .

DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6, 2007, :243-+

[8]

Choi J. Y., 2012, WORLD ACAD SCI ENG T, V71

[9]

DJI, 2014, QUADC PHANT 2 VIS

[10]

Grocholsky B, 2005, IEEE INT CONF ROBOT, P2211

← 1 2 3 →