Coordination and navigation of heterogeneous MAV–UGV formations localized by a ‘hawk-eye’-like approach under a model predictive control scheme

@article{Saska2014CoordinationAN,
  title={Coordination and navigation of heterogeneous MAV–UGV formations localized by a ‘hawk-eye’-like approach under a model predictive control scheme},
  author={Martin Saska and Vojtěch Von{\'a}sek and Tom{\'a}{\vs} Krajn{\'i}k and Libor Preucil},
  journal={The International Journal of Robotics Research},
  year={2014},
  volume={33},
  pages={1393 - 1412}
}
An approach for coordination and control of 3D heterogeneous formations of unmanned aerial and ground vehicles under hawk-eye-like relative localization is presented in this paper. The core of the method lies in the use of visual top-view feedback from flying robots for the stabilization of the entire group in a leader–follower formation. We formulate a novel model predictive control-based methodology for guiding the formation. The method is employed to solve the trajectory planning and control… 
View on SAGE
eprints.lincoln.ac.uk
94 Citations
Highly Influential Citations
2
Background Citations
32
Methods Citations
26
Results Citations
1

94 Citations

Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

The presented motion planning and stabilization approach provides an effective technique to enable deployment of closely cooperating teams of robots in outdoor as well as indoor environment.

Formation control of unmanned micro aerial vehicles for straitened environments

A novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters) in cluttered GPS-denied on straitened environments by migrating the virtual leader along with the hull surrounding the formation.

Complex Maneuvers of Heterogeneous Formations of Ground and Aerial Robots- Acronym

This diploma thesis deals with control and trajectory planning of heterogeneous teams of ground robots and helicopters, in which a system of relative localization carried onboard of unmanned aerial vehicles is used for formation stabilization, based on the model predictive control technique.

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

This work verifies the possibility of self-stabilization of multi-MAV groups without an external global positioning system, and deployment of the system in real-world scenarios truthfully verifies its operational constraints.

Motion control for UAV-UGV cooperation with visibility constraint

A new control law is presented that combines an extended dynamic coverage strategy with a tracking controller, allowing the UAV to gather more information and act as an anticipatory element in a cooperative scenario where an unmanned aerial vehicle assists an unmanned ground vehicle to achieve a higher level task.

Vision-Based Formation Control of a Heterogeneous Unmanned System

A vision-based cooperative formation control method which considers the visual sensing range constraint of the camera and is successfully validated through simulations for a heterogeneous unmanned system including an UAV and multiple UGVs.

A Distributed Model Predictive Control Strategy for Constrained Multi-Vehicle Systems Moving in Unknown Environments

This paper combines receding horizon control arguments with leader-follower formations in order to design a flexible architecture where the vehicle topology, if needed, can be rearranged to better cope with the presence of obstacles.

Predictive control and stabilization of nonholonomic formations with integrated spline-path planning

Three-dimensional formation keeping of multi-UAV based on consensus

Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy…

Three-dimensional formation keeping of multi-UAV based on consensus

Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy…
...

References

SHOWING 1-10 OF 64 REFERENCES

Coordination and navigation of heterogeneous UAVs-UGVs teams localized by a hawk-eye approach

A novel Model Predictive Control based concept for formation driving in a leader-follower constellation into a required target region using the MPC methodology for both the trajectory planning and control of a virtual leader and the control and stabilization of followers.

Leader-Follower Formation Control of Multiple Non-holonomic Mobile Robots Incorporating a Receding-horizon Scheme

The receding-horizon scheme is proposed to incorporate into the leader-follower controller to yield a fast convergence rate of the formation tracking errors and to solve the formation problem of multiple non-holonomic mobile robots with a rapid error convergence rate.

Cascade-type guidance law design for multiple-UAV formation keeping

Roads sweeping by unmanned multi-vehicle formations

A system for autonomous roads sweeping by applying formations of mobile robots based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-word environments with static and dynamic obstacles.

Trajectory design and control for aggressive formation flight with quadrotors

Simulations as well as an experimental evaluation of the approach suggests that suitable performance is maintained as the formation motions become increasingly aggressive and as communication degrades.

A control strategy for platoons of differential drive wheeled mobile robot

Application of coordinated multi-vehicle formations for snow shoveling on airports

A framework that applies multiple groups of autonomous snowplow robots for efficiently removing the snow from airfields using a multi-agent method designed for the dynamic environment of airports is presented.

Cooperative μUAV-UGV autonomous indoor surveillance

This paper presents a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments and proposes two concepts of mobile helipads employed for correction of imprecise landing of the UAV.

Formation control of VTOL Unmanned Aerial Vehicles with communication delays

Non-Iterative nonlinear model predictive approach applied to the control of helicopters' group formation

...