Autonomous docking and energy sharing between two types of robotic agents (CROSBI ID 671531)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Babić, Anja ; Mandić, Filip ; Vasiljević, Goran ; Mišković, Nikola
engleski
Autonomous docking and energy sharing between two types of robotic agents
In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given.
marine robotics ; multi-vehicle system ; visual servoing ; energy sharing
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Podaci o prilogu
406-411.
2018.
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objavljeno
10.1016/j.ifacol.2018.09.453
Podaci o matičnoj publikaciji
IFAC-PapersOnLine
Mišković, Nikola
International Federation of Automatic Control (IFAC)
2405-8971
2405-8963
Podaci o skupu
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicle (CAMS 2018)
predavanje
10.09.2018-12.09.2018
Opatija, Hrvatska