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Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00300901" target="_blank" >RIV/68407700:21230/16:00300901 - isvavai.cz</a>

  • Result on the web

    <a href="http://ieeexplore.ieee.org/document/7575274/" target="_blank" >http://ieeexplore.ieee.org/document/7575274/</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/MMAR.2016.7575274" target="_blank" >10.1109/MMAR.2016.7575274</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

  • Original language description

    A problem of motion planning and coordination of compact formations of ground and aerial robots will be tackled in this paper. The scenarios when the formation composed from Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), in particular Micro Aerial Vehicles (MAVs), has to reverse the direction of movement to fulfil task of collision free motion to a target zone will be solved. The presented motion planning and stabilization approach provides an effective technique to enable deployment of closely cooperating teams of robots in outdoor as well as indoor environment. The formation to target region problem is solved using a Model Predictive Control (MPC) methodology and the formation driving concept is based on a virtual-leader-follower approach. The mentioned MPC based process is used for trajectory planning and control of a virtual leader and also for control and stabilization of followers (MAVs and UGVs). The proposed approach is verified with numerous simulations and hardware experiments.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/7AMB16FR017" target="_blank" >7AMB16FR017: Cooperative surveillance and environment monitoring by heterogeneous teams of unmanned aerial vehicles</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2016

  • 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 MMAR'2016

  • ISBN

    978-1-5090-1866-6

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    998-1003

  • Publisher name

    West Pomeranian University of Technology

  • Place of publication

    Szczecin

  • Event location

    Międzyzdroje

  • Event date

    Aug 29, 2016

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000392500900175