Cooperative control of a heterogeneous multi-robot system based on relative localization

Marco Cognetti, Giuseppe Oriolo, Pietro Peliti, Lorenzo Rosa, Paolo Stegagno
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a cooperative control scheme for a heterogeneous multi-robot system, consisting of an Unmanned Aerial Vehicle (UAV) equipped with a camera and multiple identical Unmanned Ground Vehicles (UGVs). Our control scheme takes advantage of the different capabilities of the robots. Since the system is highly redundant, the execution of multiple different tasks is possible. The primary task is aimed at keeping the UGVs well inside the camera field of view, so as to allow our localization
more » ... m to reconstruct the identity and relative pose of each UGV with respect to the UAV. Additional tasks include formation control, navigation and obstacle avoidance. We thoroughly discuss the feasibility of each task, proving convergence when possible. Simulation results are presented to validate the proposed method. 978-1-4799-6934-0/14/$31.00 ©2014 IEEE
doi:10.1109/iros.2014.6942583 dblp:conf/iros/CognettiOPRS14 fatcat:yffv5fxjgfdehorjhzwo3t646y