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Abstract:
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.
