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Rosa, Lorenzo, Cognetti, Marco, Nicastro, Andrea, 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: | 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 |
| Related URLs: | |
| 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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