Switched UAV-UGV Cooperation Scheme for Target Detection

  • Herbert G. Tanner
  • Published 2007 in
    Proceedings 2007 IEEE International Conference on…


We develop a switched cooperative control scheme, to coordinate groups of ground and aerial vehicles for the purpose of locating a moving target in a given area. We do so by stabilizing the ground group into a guarding formation using a navigation function, and then steering the aerial group along a trajectory that uniformly scans the enclosed regions. The novelty of the approach lays in combining decentralized flocking algorithms with navigation functions for obstacle avoidance, convergence to designated position, and direction control.

DOI: 10.1109/ROBOT.2007.364007

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@article{Tanner2007SwitchedUC, title={Switched UAV-UGV Cooperation Scheme for Target Detection}, author={Herbert G. Tanner}, journal={Proceedings 2007 IEEE International Conference on Robotics and Automation}, year={2007}, pages={3457-3462} }