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  Cooperative Control of a Heterogeneous Multi-Robot System based on Relative Localization

Cognetti, M., Oriolo, G., Peliti, P., Rosa, L., & Stegagno, P. (2014). Cooperative Control of a Heterogeneous Multi-Robot System based on Relative Localization. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (pp. 350-356). Piscataway, NJ, USA: IEEE.

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Cognetti, M, Author              
Oriolo, G, Author
Peliti, P, Author
Rosa, L, Author
Stegagno, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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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.

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 Dates: 2014-09
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2014.6942583
BibTex Citekey: CognettiOPRS2014
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Place of Event: Chicago, IL, USA
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 350 - 356 Identifier: -