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    Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team


    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:

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