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… 

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