Naslov
Decentralized planning and control for UAV–UGV cooperative teams

Autori
Arbanas, Barbara ; Ivanovic, Antun ; Car, Marko ; Orsag, Matko ; Petrovic, Tamara ; Bogdan, Stjepan

Izvornik
Autonomous robots (0929-5593) Online (2018), First; 1-18

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Unmanned aerial system Aerial manipulation Heterogeneous robotics systems Decentralized planning

Sažetak
In this paper we study a symbiotic aerial vehicle-ground vehicle robotic team where unmanned aerial vehicles (UAVs) are used for aerial manipulation tasks, while unmanned ground vehicles (UGVs) aid and assist them. UGV can provide a UAV with a safe landing area and transport it across large distances, while UAV can provide an additional degree of freedom for the UGV, enabling it to negotiate obstacles. We propose an overall system control framework that includes high-accuracy motion planning for each individual robot and ad-hoc decentralized mission planning for complex missions. Experimental results obtained in a mockup arena for parcel transportation scenario show that the system is able to plan and execute missions in various environments and that the obtained plans result in lower energy consumption.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA