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Autre Publication Scientifique Année : 2014

Decentralized Control Architecture for UAV-UGV Cooperation

Résumé

— We present a decentralized control architecture for an heterogeneous group of mobile robots made of one Unmanned Aerial Vehicles (UAV) and several Unmanned Ground Vehicles (UGVs) performing collaborative tasks (area inspection, object transportation, etc...). The UAV is used to help a human operator to supervise and guide a group of UGVs by providing an aerial coverage view of the navigation area. Our control scheme is based on minimalistic computation and communication requirements, as well as an architecture complexity kept at a simple level regardless of the deployed number of grounds robots. Simulation and experimentations are performed and show the efficiency of our proposed control architecture.
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Dates et versions

hal-01078747 , version 1 (30-10-2014)
hal-01078747 , version 2 (27-02-2015)

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Identifiants

  • HAL Id : hal-01078747 , version 2

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El Houssein Chouaib Harik, François Guérin, Frédéric Guinand, Jean-François Brethé, Hervé Pelvillain. Decentralized Control Architecture for UAV-UGV Cooperation. 2014. ⟨hal-01078747v2⟩
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