1,456 research outputs found
Decentralized collaborative transport of fabrics using micro-UAVs
Small unmanned aerial vehicles (UAVs) have generally little capacity to carry
payloads. Through collaboration, the UAVs can increase their joint payload
capacity and carry more significant loads. For maximum flexibility to dynamic
and unstructured environments and task demands, we propose a fully
decentralized control infrastructure based on a swarm-specific scripting
language, Buzz. In this paper, we describe the control infrastructure and use
it to compare two algorithms for collaborative transport: field potentials and
spring-damper. We test the performance of our approach with a fleet of
micro-UAVs, demonstrating the potential of decentralized control for
collaborative transport.Comment: Submitted to 2019 International Conference on Robotics and Automation
(ICRA). 6 page
Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles
This paper addresses forward motion control for trajectory tracking and
mobile formation coordination for a group of non-holonomic vehicles on SE(2).
Firstly, by constructing an intermediate attitude variable which involves
vehicles' position information and desired attitude, the translational and
rotational control inputs are designed in two stages to solve the trajectory
tracking problem. Secondly, the coordination relationships of relative
positions and headings are explored thoroughly for a group of non-holonomic
vehicles to maintain a mobile formation with rigid body motion constraints. We
prove that, except for the cases of parallel formation and translational
straight line formation, a mobile formation with strict rigid-body motion can
be achieved if and only if the ratios of linear speed to angular speed for each
individual vehicle are constants. Motion properties for mobile formation with
weak rigid-body motion are also demonstrated. Thereafter, based on the proposed
trajectory tracking approach, a distributed mobile formation control law is
designed under a directed tree graph. The performance of the proposed
controllers is validated by both numerical simulations and experiments
Multirobot heterogeneous control considering secondary objectives
Cooperative robotics has considered tasks that are executed frequently, maintaining the
shape and orientation of robotic systems when they fulfill a common objective, without taking
advantage of the redundancy that the robotic group could present. This paper presents a proposal
for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary
and secondary tasks thus that the group complies with the following of a path while modifying its
shape and orientation at any time. The development of the proposal is achieved through the use
of controllers based on linear algebra, propounding a low computational cost and high scalability
algorithm. Likewise, the stability of the controller is analyzed to know the required features that have
to be met by the control constants, that is, the correct values. Finally, experimental results are shown
with di erent configurations and heterogeneous robots, where the graphics corroborate the expected
operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación
y Academia–CEDI
A practical multirobot localization system
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems
A reactive method for collision avoidance in industrial environments
This paper presents a reactive method for
collision avoidance with multiple aerial vehicles that
has been applied in real time considering industrial
environments. The proposed method is based on the
3D-Optimal Reciprocal Collision Avoidance algorithm.
The main contribution of the proposed method is that
it takes into consideration 3D modeled static obstacles.
Therefore, it has been successfully applied in realistic
industrial environments with the presence of complex
static obstacles. Considerations of dynamic constraints
of the aerial vehicles have been added. The algorithm
has been integrated in ROS framework and tested in
simulation. Several simulations with up to eight aerial
vehicles have been performed, including long endurance
cooperative missions. Finally, the second main contri-
bution consists in the evaluation of several real ex-
periments with up to four aerial vehicles which have
been carried out in the testbed of the Center for Ad-
vanced Technologies (CATEC) facilities. The aerial ve-
hicles
ew in the presence of static obstacles and avoided
potential collisions by modifying the planned trajecto-
ries in real-time.Comisión Europea P11-TIC-706
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