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Cooperative control of a heterogeneous multi-robot system based on relative localization
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 localizationdoi:10.1109/iros.2014.6942583 dblp:conf/iros/CognettiOPRS14 fatcat:yffv5fxjgfdehorjhzwo3t646y