Decentralized Control Architecture for UAV-UGV Cooperation

1 Introduction
2 Problem Statement and Architecture Design
3 Results
- 3.1 Simulation results
- 3.2 Experimental results
4 Perspectives and Conclusion
Ref

【Paper】2015_El H_Decentralized Control Architecture for UAV-UGV Cooperation
【Paper】2015_El H_UAV-UGV Cooperation For Objects Transportation In An Industrial Area
【Paper】2013_Double Exponential Smoothing for Predictive Vision Based Target Tracking

1 Introduction

主要工作：
The main goal of the work is the design and implementation of a platform made up of ground and air mobile robots to carry out, in a coordinated way, a set of different tasks in an industrial area.

2 Problem Statement and Architecture Design

With these constraints in mind, we have proposed a global architecture including Unmanned Ground Vehicles (UGVs), Unmanned Aerial Vehicles (UAVs) and men. Figure 1 presents the global architecture.

3 Results

3.1 Simulation results

3.2 Experimental results

4 Perspectives and Conclusion

Ref

[1] Dji quadcopter phantom 2 vision, 2014. URL: http://www.dji.com/product/phantom-2-vision.

[2] Processing 2, 2014. URL: http://www.processing.org/.

[3] Luiz Chaimowicz and Vijay Kumar. “aerial shepherds: Coordination among uavs and swarms of robots”. In Distributed Autonomous Robotic Systems 6, pages 243–252. Springer, 2007.

[4] Jae-Young Choi and Sung-Gaun Kim. “collaborative tracking control of uav-ugv”. World Academy of Science, Engineering and Technology, 71, 2012.

[5] Michele Furci, Andrea Paoli, and Roberto Naldi. “a supervisory control strategy for robot-assisted search and rescue in hostile environments”. In Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on, pages 1–4. IEEE, 2013.

[6] François Guerin. “commande conjuguée d’un robot mobile, modélisation dynamique et vision artiﬁcielle”,thèse de doctorat de l’université du havre - eue – isbn 978-613-1-54896-3. 2004.

[7] François Guerin, Simon G. Fabri, and Marvin K. Bugeja. “double exponential smoothing for predictive vision based target tracking of a wheeled mobile robot”. In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 3535–3540, Florence, Italy, December 2013.

[8] El Houssein Chouaib Harik, François Guérin, Frédéric Guinand, Jean-François Brethé, and Hervé Pelvillain. “uav-ugv cooperation for industrial areas inspection”. In Submitted to the 2014 IEEE International Multiconfer-ence on Systems and Control (IEEE MSC 2014), volume x, pages xx–yy. IEEE, 2014.

[9] L. Kuhnert, K. Muller, M. Ax, and K. Kuhnert. “object localization on agricultural areas using an autonomous team of cooperation ground and air robots”. In International Conference of Agricultural Engineering, CIGR-AGENG2012, Valencia, Spain, July 8-12 2012.

一个农业工程的国际会议，CIGR

[10] Mark B Moseley, Benjamin P Grocholsky, Carol Che-ung, and Sanjiv Singh. “integrated long-range uav/ugv collaborative target tracking”. In SPIE Defense, Security, and Sensing, pages 733204–733204. International Society for Optics and Photonics, 2009.

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【Paper】2015_El H_Decentralized Control Architecture for UAV-UGV Cooperation