Rosa, Lorenzo and Cognetti, Marco and Nicastro, Andrea and Alvarez, Pol and Oriolo, Giuseppe (2015) Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team. IFAC-PapersOnLine, 48 (5). pp. 53-58. ISSN 24058963

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Abstract

For a heterogeneous multi-robot system composed by an Unmanned Aerial Vehicle (UAV) equipped with a camera and several Unmanned Ground Vehicles (UGVs), we design a cooperative control scheme aimed at realizing a primary visual task, specifically designed to allow relative localization of the UGVs by the UAV, along with a generic secondary task to be carried out by the UGVs. The stability of the closed-loop system is formally proven. Inclusion of other behaviors, such as system navigation and ground obstacle avoidance, is considered. The theoretical results are validated by simulations in MATLAB and Gazebo/ROS.

Item Type:	Article
Keywords:	heterogeneous team; multi-robot system; multi-task control; stability analysis;
Academic Unit:	Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID:	15325
Identification Number:	https://doi.org/10.1016/j.ifacol.2015.06.463
Depositing User:	Marco Cognetti
Date Deposited:	24 Jan 2022 15:39
Journal or Publication Title:	IFAC-PapersOnLine
Publisher:	Elsevier
Refereed:	Yes
URI:	Publisher
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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