文章基本信息

标题：Multi-task Cooperative Control in a Heterogeneous Ground-Air Robot Team
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作者：Lorenzo Rosa ; Marco Cognetti ; Andrea Nicastro 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：5
页码：53-58
DOI：10.1016/j.ifacol.2015.06.463
语种：English
出版社：Elsevier
摘要：AbstractFor a heterogeneous multi-robot system composed by an Unmanned Aerial Vehicle (UAV) equipped with a camera and several Unmanned Ground Vehicles (UGVs), we design a cooperative control scheme aimed at realizing a primary visual task, specifically designed to allow relative localization of the UGVs by the UAV, along with a generic secondary task to be carried out by the UGVs. The stability of the closed-loop system is formally proven. Inclusion of other behaviors, such as system navigation and ground obstacle avoidance, is considered. The theoretical results are validated by simulations in MATLAB and Gazebo/ROS.
关键词：Keywordsheterogeneous teammulti-robot systemmulti-task controlstability analysis