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Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00198993" target="_blank" >RIV/68407700:21230/12:00198993 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach

  • Original language description

    A navigation and stabilization scheme for 3D heterogeneous (UAVs and UGVs) formations acting under a hawk-eye like relative localization is presented in this paper. We formulate a novel Model Predictive Control (MPC) based concept for formation driving in a leader-follower constellation into a required target region. The formation to target region problem in 3D is solved using the MPC methodology for both: i) the trajectory planning and control of a virtual leader, and ii) the control and stabilizationof followers - UAVs and UGVs. The core of the method lies in a novel avoidance function based on a model of the formation respecting requirements of the direct visibility between the team members in environment with obstacles, which is crucial for the hawk-eye localization.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2012

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

  • ISBN

    978-1-4673-1735-1

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    2166-2171

  • Publisher name

    IEEE

  • Place of publication

    Piscataway

  • Event location

    Vilamoura, Algarve

  • Event date

    Oct 7, 2012

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article