UAV-UGV cooperation for objects transportation in an industrial area

El Houssein Chouaib Harik, Francois Guerin, Frederic Guinand, Jean-Francois Brethe, Herve Pelvillain
2015 2015 IEEE International Conference on Industrial Technology (ICIT)  
We present in this paper a decentralized multirobot (aerial and ground) cooperation scheme for objects transportation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot (leader) navigates among obstacles thanks to the waypoints provided by the drone and the human operator. The other ground mobile robots (followers) use
more » ... a predictive vision based target tracking controller to keep a certain distance and bearing to the leader.
doi:10.1109/icit.2015.7125156 dblp:conf/icit2/HarikGGBP15 fatcat:tdbyefyuurb4zgccgkpcda5wji