Naslov
Aerial-ground robotic system for autonomous delivery tasks

Autori
Arbanas, Barbara ; Ivanović, Antun ; Car, Marko ; Haus, Tomislav ; Orsag, Matko ; Petrović, Tamara ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2016 IEEE International Conference on Robotics and Automation (ICRA) / - : Institute of Electrical and Electronics Engineers (IEEE), 2016, 5463-5468

Skup
2016 IEEE International Conference on Robotics and Automation (ICRA)

Mjesto i datum
Stockholm, Švedska, 16.05.2016. - 21.05.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robot kinematics ; Trajectory ; Schedules ; Vehicles ; Stability analysis

Sažetak
In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet transportation, with different energy consumption profiles. We propose a reactive method for decentralized task planning and coordination of robots using hierarchical task decomposition based on TÆMS framework. Our approach takes into account low-level motion- planning aspects of the system as well as high- level mission specification, making this a multi-layered system. For low-level planning we use sampling-based planner combined with obstacle-free trajectory generation. Methods are verified in simulations and on an experimental testbed, using 3D Robotics quadcopter and Pioneer 3DX mobile robots with the results showing stability and robustness of the presented methods.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA