Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scen...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Saska, Martin [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2013 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media Dordrecht 2013 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of intelligent & robotic systems - Springer Netherlands, 1988, 73(2013), 1-4 vom: 12. Okt., Seite 603-622 |
|---|---|
| Übergeordnetes Werk: |
volume:73 ; year:2013 ; number:1-4 ; day:12 ; month:10 ; pages:603-622 |
| Links: |
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| DOI / URN: |
10.1007/s10846-013-9976-6 |
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| Katalog-ID: |
OLC2057177491 |
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| 520 | |a Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. | ||
| 650 | 4 | |a Mobile robots | |
| 650 | 4 | |a Micro aerial vehicles | |
| 650 | 4 | |a Formation driving | |
| 650 | 4 | |a Fault detection and recovery | |
| 650 | 4 | |a Model predictive control | |
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| 700 | 1 | |a Kasl, Zdeněk |4 aut | |
| 700 | 1 | |a Spurný, Vojtěch |4 aut | |
| 700 | 1 | |a Přeučil, Libor |4 aut | |
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10.1007/s10846-013-9976-6 doi (DE-627)OLC2057177491 (DE-He213)s10846-013-9976-6-p DE-627 ger DE-627 rakwb eng 004 VZ Saska, Martin verfasserin aut Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2013 Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. Mobile robots Micro aerial vehicles Formation driving Fault detection and recovery Model predictive control Leader-follower Trajectory planning Krajník, Tomáš aut Vonásek, Vojtěch aut Kasl, Zdeněk aut Spurný, Vojtěch aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 73(2013), 1-4 vom: 12. Okt., Seite 603-622 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:73 year:2013 number:1-4 day:12 month:10 pages:603-622 https://doi.org/10.1007/s10846-013-9976-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2057 AR 73 2013 1-4 12 10 603-622 |
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10.1007/s10846-013-9976-6 doi (DE-627)OLC2057177491 (DE-He213)s10846-013-9976-6-p DE-627 ger DE-627 rakwb eng 004 VZ Saska, Martin verfasserin aut Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2013 Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. Mobile robots Micro aerial vehicles Formation driving Fault detection and recovery Model predictive control Leader-follower Trajectory planning Krajník, Tomáš aut Vonásek, Vojtěch aut Kasl, Zdeněk aut Spurný, Vojtěch aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 73(2013), 1-4 vom: 12. Okt., Seite 603-622 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:73 year:2013 number:1-4 day:12 month:10 pages:603-622 https://doi.org/10.1007/s10846-013-9976-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2057 AR 73 2013 1-4 12 10 603-622 |
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10.1007/s10846-013-9976-6 doi (DE-627)OLC2057177491 (DE-He213)s10846-013-9976-6-p DE-627 ger DE-627 rakwb eng 004 VZ Saska, Martin verfasserin aut Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2013 Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. Mobile robots Micro aerial vehicles Formation driving Fault detection and recovery Model predictive control Leader-follower Trajectory planning Krajník, Tomáš aut Vonásek, Vojtěch aut Kasl, Zdeněk aut Spurný, Vojtěch aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 73(2013), 1-4 vom: 12. Okt., Seite 603-622 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:73 year:2013 number:1-4 day:12 month:10 pages:603-622 https://doi.org/10.1007/s10846-013-9976-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2057 AR 73 2013 1-4 12 10 603-622 |
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10.1007/s10846-013-9976-6 doi (DE-627)OLC2057177491 (DE-He213)s10846-013-9976-6-p DE-627 ger DE-627 rakwb eng 004 VZ Saska, Martin verfasserin aut Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2013 Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. Mobile robots Micro aerial vehicles Formation driving Fault detection and recovery Model predictive control Leader-follower Trajectory planning Krajník, Tomáš aut Vonásek, Vojtěch aut Kasl, Zdeněk aut Spurný, Vojtěch aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 73(2013), 1-4 vom: 12. Okt., Seite 603-622 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:73 year:2013 number:1-4 day:12 month:10 pages:603-622 https://doi.org/10.1007/s10846-013-9976-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2057 AR 73 2013 1-4 12 10 603-622 |
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10.1007/s10846-013-9976-6 doi (DE-627)OLC2057177491 (DE-He213)s10846-013-9976-6-p DE-627 ger DE-627 rakwb eng 004 VZ Saska, Martin verfasserin aut Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups 2013 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media Dordrecht 2013 Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. Mobile robots Micro aerial vehicles Formation driving Fault detection and recovery Model predictive control Leader-follower Trajectory planning Krajník, Tomáš aut Vonásek, Vojtěch aut Kasl, Zdeněk aut Spurný, Vojtěch aut Přeučil, Libor aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 73(2013), 1-4 vom: 12. Okt., Seite 603-622 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:73 year:2013 number:1-4 day:12 month:10 pages:603-622 https://doi.org/10.1007/s10846-013-9976-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2057 AR 73 2013 1-4 12 10 603-622 |
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Saska, Martin Krajník, Tomáš Vonásek, Vojtěch Kasl, Zdeněk Spurný, Vojtěch Přeučil, Libor |
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fault-tolerant formation driving mechanism designed for heterogeneous mavs-ugvs groups |
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Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups |
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Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. © Springer Science+Business Media Dordrecht 2013 |
| abstractGer |
Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. © Springer Science+Business Media Dordrecht 2013 |
| abstract_unstemmed |
Abstract A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. © Springer Science+Business Media Dordrecht 2013 |
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Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups |
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