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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F12%3A00198993%21RIV13-MSM-21230___
rdf:type
skos:Concept n20:Vysledek
dcterms: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.
dcterms: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
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
skos:notation
RIV/68407700:21230/12:00198993!RIV13-MSM-21230___
n20:predkladatel
n21:orjk%3A21230
n3:aktivita
n22:P
n3:aktivity
P(7E08006), P(GPP103/12/P756), P(LH11053)
n3:dodaniDat
n14:2013
n3:domaciTvurceVysledku
n4:3933334 n4:4334175 n4:3276155 n4:4187288
n3:druhVysledku
n8:D
n3:duvernostUdaju
n18:S
n3:entitaPredkladatele
n19:predkladatel
n3:idSjednocenehoVysledku
128786
n3:idVysledku
RIV/68407700:21230/12:00198993
n3:jazykVysledku
n7:eng
n3:klicovaSlova
Mobile Robots; Micro Aerial Vehicle; Heterogeneous Teams; Formation Control; Receding Horizon Control; Obstacle Avoidance
n3:klicoveSlovo
n10:Micro%20Aerial%20Vehicle n10:Receding%20Horizon%20Control n10:Mobile%20Robots n10:Obstacle%20Avoidance n10:Heterogeneous%20Teams n10:Formation%20Control
n3:kontrolniKodProRIV
[ACD341F48308]
n3:mistoKonaniAkce
Vilamoura, Algarve
n3:mistoVydani
Piscataway
n3:nazevZdroje
Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
n3:obor
n17:JC
n3:pocetDomacichTvurcuVysledku
4
n3:pocetTvurcuVysledku
4
n3:projekt
n6:LH11053 n6:GPP103%2F12%2FP756 n6:7E08006
n3:rokUplatneniVysledku
n14:2012
n3:tvurceVysledku
Krajník, Tomáš Přeučil, Libor Saska, Martin Vonásek, Vojtěch
n3:typAkce
n11:WRD
n3:zahajeniAkce
2012-10-07+02:00
s:numberOfPages
6
n16:hasPublisher
IEEE
n13:isbn
978-1-4673-1735-1
n12:organizacniJednotka
21230