Coordination and Navigation of Heterogeneous MAV?UGV Formations Localized by a `hawk-eye?-like Approach Under a Model Predictive Control Scheme

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00218644" target="_blank" >RIV/68407700:21230/14:00218644 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1177/0278364914530482" target="_blank" >http://dx.doi.org/10.1177/0278364914530482</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1177/0278364914530482" target="_blank" >10.1177/0278364914530482</a>

Result language
angličtina
Original language name
Coordination and Navigation of Heterogeneous MAV?UGV Formations Localized by a `hawk-eye?-like Approach Under a Model Predictive Control Scheme
Original language description
An approach for coordination and control of 3D heterogeneous formations of unmanned aerial and ground vehicles under hawk-eye like relative localization is presented in this paper. The core of the method lies in the use of visual top-view feedback from flying robots for the stabilization of the entire group in a leader-follower formation. We formulate a novel Model Predictive Control (MPC) based methodology for guiding the formation. The method is employed to solve the trajectory planning and control ofa virtual leader into a desired target region. In addition, the method is used for keeping the following vehicles in the desired shape of the group. The approach is designed to ensure direct visibility between aerial and ground vehicles, which is crucial for the formation stabilization using the hawk-eye like approach. The presented system is verified in numerous experiments inspired by search and rescue applications, where the formation acts as a searching phalanx. In addition, stabili
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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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)

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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