计算机科学
任务(项目管理)
方案(数学)
机器人
避障
障碍物
趋同(经济学)
人工智能
计算机视觉
身份(音乐)
移动机器人
机器人运动学
领域(数学)
控制(管理)
实时计算
工程类
数学
数学分析
物理
系统工程
纯数学
法学
政治学
经济
声学
经济增长
作者
Marco Cognetti,Giuseppe Oriolo,Pietro Peliti,Lorenzo Rosa,Paolo Stegagno
标识
DOI:10.1109/iros.2014.6942583
摘要
We propose a cooperative control scheme for a heterogeneous multi-robot system, consisting of an Unmanned Aerial Vehicle (UAV) equipped with a camera and multiple identical Unmanned Ground Vehicles (UGVs). Our control scheme takes advantage of the different capabilities of the robots. Since the system is highly redundant, the execution of multiple different tasks is possible. The primary task is aimed at keeping the UGVs well inside the camera field of view, so as to allow our localization system to reconstruct the identity and relative pose of each UGV with respect to the UAV. Additional tasks include formation control, navigation and obstacle avoidance. We thoroughly discuss the feasibility of each task, proving convergence when possible. Simulation results are presented to validate the proposed method.
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