Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00375988" target="_blank" >RIV/68407700:21230/24:00375988 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS58592.2024.10802469" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10802469</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802469" target="_blank" >10.1109/IROS58592.2024.10802469</a>
Alternative languages
Result language
angličtina
Original language name
Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers
Original language description
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We propose a novel mathematical model of a robotic system that combines the UAV, USV, and the tethered floating object. A novel Model Predictive Control (MPC) framework is designed for using this model to achieve precise control and guidance for this collaborative robotic system. Extensive simulations in the realistic robotic simulator Gazebo demonstrate the system’s readiness for real-world deployment, highlighting its versatility and effectiveness. Our multi-robot system overcomes the state-of-the-art single robot approach, exhibiting smaller control errors during the tracking of the floating object’s reference. Additionally, our multi-robot system demonstrates a shorter recovery time from a disturbance compared to the single-robot approach.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
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
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
ISBN
979-8-3503-7770-5
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
3425-3432
Publisher name
IEEE
Place of publication
Piscataway
Event location
Abu Dhabi
Event date
Oct 14, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001411890000373