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.

Multi-task cooperative control in a heterogeneous ground-air robot team / Rosa, Lorenzo; Cognetti, Marco; A., Nicastro; P., Alvarez; Oriolo, Giuseppe. - STAMPA. - 48:5(2015), pp. 53-58. (Intervento presentato al convegno 3rd IFAC Workshop on Multivehicle Systems MVS 2015 tenutosi a Genova; Italy nel May 2015) [10.1016/j.ifacol.2015.06.463].

Multi-task cooperative control in a heterogeneous ground-air robot team

ROSA, LORENZO;COGNETTI, MARCO;ORIOLO, Giuseppe
2015

Abstract

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.
2015
3rd IFAC Workshop on Multivehicle Systems MVS 2015
Heterogeneous team; multi-robot system; multi-task control; stability analysis
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Multi-task cooperative control in a heterogeneous ground-air robot team / Rosa, Lorenzo; Cognetti, Marco; A., Nicastro; P., Alvarez; Oriolo, Giuseppe. - STAMPA. - 48:5(2015), pp. 53-58. (Intervento presentato al convegno 3rd IFAC Workshop on Multivehicle Systems MVS 2015 tenutosi a Genova; Italy nel May 2015) [10.1016/j.ifacol.2015.06.463].
File allegati a questo prodotto
File Dimensione Formato  
Rosa_Multi-task-cooperative_2015.pdf

solo gestori archivio

Tipologia: Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 791.21 kB
Formato Adobe PDF
791.21 kB Adobe PDF   Contatta l'autore

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/780881
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 22
  • ???jsp.display-item.citation.isi??? ND
social impact