Navigation, Localization and Stabilization of Formations of Unmanned Aerial and Ground Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00206002" target="_blank" >RIV/68407700:21230/13:00206002 - isvavai.cz</a>
Result on the web
<a href="https://controls.papercept.net/conferences/scripts/abstract.pl?ConfID=53&Number=70" target="_blank" >https://controls.papercept.net/conferences/scripts/abstract.pl?ConfID=53&Number=70</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS.2013.6564767" target="_blank" >10.1109/ICUAS.2013.6564767</a>

Result language
angličtina
Original language name
Navigation, Localization and Stabilization of Formations of Unmanned Aerial and Ground Vehicles
Original language description
A leader-follower formation driving algorithm developed for control of heterogeneous groups of unmanned micro aerial and ground vehicles stabilized under a top-view relative localization is presented in this paper. The core of the proposed method lies ina novel avoidance function, in which the entire 3D formation is represented by a convex hull projected along a desired path to be followed by the group. Such a representation of the formation provides non-collision trajectories of the robots and respects requirements of the direct visibility between the team members in environment with static as well as dynamic obstacles, which is crucial for the top-view localization. The algorithm is suited for utilization of a simple yet stable visual based navigation of the group (referred to as GeNav), which together with the on-board relative localization enables deployment of large teams of micro-scale robots in environments without any available global localization system. We formulate a novel
Czech name
—
Czech description
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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)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 2013 International Conference on Unmanned Aircraft Systems
ISBN
978-1-4799-0817-2
ISSN
—
e-ISSN
—
Number of pages
10
Pages from-to
831-840
Publisher name
Springer
Place of publication
New York
Event location
Atlanta
Event date
May 28, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000326842400100

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