Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering
- Authors
- Franchi, Antonio; Masone, Carlo; Grabe, Volker; Ryll, Markus; Buelthoff, Heinrich H.; Giordano, Paolo Robuffo
- Issue Date
- 10월-2012
- Publisher
- SAGE PUBLICATIONS LTD
- Keywords
- Networked robots; mobile and distributed robotics SLAM; telerobotics; simulation; interfaces and virtual reality; aerial robotics; field and service robotics; distributed robot systems; surveillance systems; sensing and perception computer vision
- Citation
- INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.31, no.12, pp.1504 - 1525
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
- Volume
- 31
- Number
- 12
- Start Page
- 1504
- End Page
- 1525
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/107362
- DOI
- 10.1177/0278364912462493
- ISSN
- 0278-3649
- Abstract
- In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e. g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information. The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e. g. exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e. g. limited field-of-view, are also considered.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - Graduate School > Department of Brain and Cognitive Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.