About: Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
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)
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)
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)
skos:notation	RIV/68407700:21230/12:00198993!RIV13-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7E08006), P(GPP103/12/P756), P(LH11053)
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Saska, Martin Přeučil, Libor Vonásek, Vojtěch Krajník, Tomáš
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	128786
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/12:00198993
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Mobile Robots; Micro Aerial Vehicle; Heterogeneous Teams; Formation Control; Receding Horizon Control; Obstacle Avoidance (en)
http://linked.open.../riv/klicoveSlovo	Obstacle Avoidance Mobile Robots Formation Control Heterogeneous Teams Micro Aerial Vehicle Receding Horizon Control
http://linked.open...ontrolniKodProRIV	[ACD341F48308]
http://linked.open...v/mistoKonaniAkce	Vilamoura, Algarve
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Robotic Evolutionary Self-Programming and Self-Assembling Organisms Stabilization of µ-UAV swarms under decentralized relative localization. Control and Localization for Swarms of Low-cost Autonomous Robots
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Krajník, Tomáš Přeučil, Libor Saska, Martin Vonásek, Vojtěch
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2012-10-07 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4673-1735-1
http://localhost/t...ganizacniJednotka	21230

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