English
 
Help Privacy Policy Disclaimer
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
Add to Basket
  Local TagsRelease HistoryDetailsSummary

Released
Conference Paper

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

MPS-Authors
/persons/resource/persons133440

Stegagno,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

External Resource

Link
(Any fulltext)

Fulltext (restricted access)
There are currently no full texts shared for your IP range.
Fulltext (public)
There are no public fulltexts stored in PuRe
Supplementary Material (public)
There is no public supplementary material available
Citation

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.


Cite as: https://hdl.handle.net/11858/00-001M-0000-0027-808C-7
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.