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rdf:type
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Description
| - A navigation and stabilization scheme for 3D heterogeneous (UAVs and UGVs) formations acting under a hawk-eye like relative localization is presented in this paper. We formulate a novel Model Predictive Control (MPC) based concept for formation driving in a leader-follower constellation into a required target region. The formation to target region problem in 3D is solved using the MPC methodology for both: i) the trajectory planning and control of a virtual leader, and ii) the control and stabilization of followers - UAVs and UGVs. The core of the method lies in a novel avoidance function based on a model of the formation respecting requirements of the direct visibility between the team members in environment with obstacles, which is crucial for the hawk-eye localization.
- A navigation and stabilization scheme for 3D heterogeneous (UAVs and UGVs) formations acting under a hawk-eye like relative localization is presented in this paper. We formulate a novel Model Predictive Control (MPC) based concept for formation driving in a leader-follower constellation into a required target region. The formation to target region problem in 3D is solved using the MPC methodology for both: i) the trajectory planning and control of a virtual leader, and ii) the control and stabilization of followers - UAVs and UGVs. The core of the method lies in a novel avoidance function based on a model of the formation respecting requirements of the direct visibility between the team members in environment with obstacles, which is crucial for the hawk-eye localization. (en)
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Title
| - Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach
- Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach (en)
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skos:prefLabel
| - Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach
- Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach (en)
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skos:notation
| - RIV/68407700:21230/12:00198993!RIV13-MSM-21230___
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http://linked.open...avai/riv/aktivita
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http://linked.open...avai/riv/aktivity
| - P(7E08006), P(GPP103/12/P756), P(LH11053)
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http://linked.open...vai/riv/dodaniDat
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http://linked.open...aciTvurceVysledku
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http://linked.open.../riv/druhVysledku
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http://linked.open...iv/duvernostUdaju
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http://linked.open...titaPredkladatele
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http://linked.open...dnocenehoVysledku
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http://linked.open...ai/riv/idVysledku
| - RIV/68407700:21230/12:00198993
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http://linked.open...riv/jazykVysledku
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http://linked.open.../riv/klicovaSlova
| - Mobile Robots; Micro Aerial Vehicle; Heterogeneous Teams; Formation Control; Receding Horizon Control; Obstacle Avoidance (en)
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http://linked.open.../riv/klicoveSlovo
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http://linked.open...ontrolniKodProRIV
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http://linked.open...v/mistoKonaniAkce
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http://linked.open...i/riv/mistoVydani
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http://linked.open...i/riv/nazevZdroje
| - Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
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http://linked.open...in/vavai/riv/obor
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http://linked.open...ichTvurcuVysledku
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http://linked.open...cetTvurcuVysledku
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http://linked.open...vavai/riv/projekt
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http://linked.open...UplatneniVysledku
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http://linked.open...iv/tvurceVysledku
| - Krajník, Tomáš
- Přeučil, Libor
- Saska, Martin
- Vonásek, Vojtěch
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http://linked.open...vavai/riv/typAkce
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http://linked.open.../riv/zahajeniAkce
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number of pages
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http://purl.org/ne...btex#hasPublisher
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https://schema.org/isbn
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http://localhost/t...ganizacniJednotka
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