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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

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

Popis výsledku anglicky

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

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2014

Kód důvěrnosti údajů

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

Název periodika

International Journal of Robotics Research

ISSN

0278-3649

e-ISSN

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Svazek periodika

33

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

20

Strana od-do

1393-1412

Kód UT WoS článku

000342793900006

EID výsledku v databázi Scopus

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