Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Collaborative Object Manipulation on the Water Surface by a UAV-USV Team Using Tethers

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

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

2024

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

Počet stran výsledku

8

Strana od-do

3425-3432

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Abu Dhabi

Datum konání akce

14. 10. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001411890000373