Decentralized controllers for perimeter surveillance with teams of aerial robots

被引：25

作者：

Pimenta, Luciano C. A. ^{[1
]}

Pereira, Guilherme A. S. ^{[1
]}

Goncalves, Mateus M. ^{[1
]}

Michael, Nathan ^{[2
]}

Turpin, Matthew ^{[3
]}

Kumar, Vijay ^{[3
]}

机构：

[1] Univ Fed Minas Gerais, Escola Engn, BR-31270901 Belo Horizonte, MG, Brazil

[2] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

[3] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA

来源：

ADVANCED ROBOTICS | 2013年 / 27卷 / 09期

关键词：

aerial robots; swarms; vector fields; UAV; GENERATION; PATTERNS; MOTION; FIELDS;

D O I：

10.1080/01691864.2013.778942

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a decentralized controller to guide a group of aerial robots to converge to and to move along a simple closed curve specified in a three-dimensional environment. This curve may be considered as a perimeter to be surveilled by the robots. The solution presented in this paper is based on an artificial vector field modulated by a collision avoidance scheme and relies only on local sensing. Proofs of asymptotic stability of the proposed controller are devised for a team of kinematically controlled rotorcrafts. Experimental results with a group of autonomous quadrotors are presented to validate the applicability and performance of the approach.

引用

页码：697 / 709

页数：13

共 50 条

[1] Dynamic zone assignment under priorities for perimeter surveillance missions with aerial robots
Acevedo, Jose J.
Arrue, Begona
Maza, Ivan
Ollero, Anibal
2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'15), 2015, : 871 - 878
[2] Heterogeneous Teams of Unmanned Ground and Aerial Robots for Reconnaissance and Surveillance - A Field Experiment
Langerwisch, Marco
Wittmann, Thomas
Thamke, Stefan
Remmersmann, Thomas
Tiderko, Alexander
Wagner, Bernardo
2013 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 2013,
[3] Dynamic Perimeter Surveillance with a Team of Robots
Saldana, David
Alitappeh, Reza Javanmard
Pimenta, Luciano C. A.
Assuncao, Renato
Campos, Mario F. M.
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 5289 - 5294
[4] Decentralized Perimeter Surveillance Using a Team of UAVs
Kingston, Derek
Beard, Randal W.
Holt, Ryan S.
IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (06) : 1394 - 1404
[5] Autonomous Navigation with Teams of Aerial Robots
Michael, Nathan
Kumar, Vijay
MICRO- AND NANOTECHNOLOGY SENSORS, SYSTEMS, AND APPLICATIONS III, 2011, 8031
[6] Experiments in evolving communicating controllers for teams of robots
Ashiru, I
Czarnecki, CA
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 3498 - 3503
[7] Experimental comparison of decentralized controllers for industrial robots
Visioli, A
Legnani, G
ROBOTICA, 1999, 17 : 601 - 612
[8] Decentralized Collision Avoidance for Large Teams of Robots
Ferrera, Eduardo
Castano, Angel R.
Capitan, Jesus
Ollero, Anibal
Marron, Pedro J.
2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2013,
[9] A decentralized algorithm for area surveillance missions using a team of aerial robots with different sensing capabilities
Acevedo, Jose J.
Arrue, Begona C.
Maza, Ivan
Ollero, Anibal
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 4735 - 4740
[10] Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles
Ayanian, Nora
Kumar, Vijay
IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (05) : 878 - 887

← 1 2 3 4 5 →