This paper presents a solution for the problem of minimum time coverage ground areas using group unmanned air vehicles (UAVs) equipped with image sensors. The is divided into two parts: (i) task modeling as graph whose vertices are geographic coordinates determined in such way that single UAV would cover area time; and (ii) mixed integer linear programming problem, formulated according to variables defined first part, route team UAVs over area. main contribution proposed methodology, when...

We address the problem of covering an environment with robots equipped sensors. The are heterogeneous in that sensor footprints different. Our work uses location optimization framework three significant extensions. First, we consider different footprints, allowing, for example, aerial and ground vehicles to collaborate. allow finite size which enables implementation on real robotic systems. Lastly, extend previous allowing deployment non convex environments.

In this paper we address the problem of transporting objects with multiple mobile robots using concept “object closure”. contrast to other manipulation techniques that are typically derived from form or force closure constraints, object requires less stringent condition be trapped caged by robots. Our basic goal in is develop decentralized control policies for a group move toward position while maintaining closure. We present experimental results show polygonal controlled visual feedback,...

This paper presents a methodology for computation of artificial vector fields that allows robot to converge and circulate around generic curves specified in <formula formulatype="inline" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex Notation="TeX">$n$</tex></formula> -dimensional spaces. These may be directly applied solve several robot-navigation problems such as border monitoring, surveillance, target tracking, multirobot pattern generation,...

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method autonomously an Unmanned Aerial Vehicle vehicle. A visual servoing controller approaches ground vehicle using velocity commands calculated directly in image space. The control laws generate all three dimensions, eliminating need for separate height controller. has shown approach deck simulation, indoor outdoor environments, compared other...

The focus of this study is on the design feedback control laws for swarms robots that are based models from fluid dynamics. We apply an incompressible model to solve a pattern generation task. Possible applications efficient solution task surveillance and cordoning off hazardous areas. More specifically, we use smoothed-particle hydrodynamics (SPH) technique devise decentralized controllers force behave in similar manner particles. Our approach deals with static dynamic obstacles....

This paper presents the model identification and velocity control of an autonomous car. The system was designed so that car is controlled at low speeds, where main applications for vehicle's operations include parking urban adaptive cruise control. A longitudinal used in loop to compensate nonlinear behavior its dynamics. Since determination a difficult step design model-based controllers, contribution this use empirically determined end. In paper, structure conceived from car's physics...

This paper presents a state-of-the-art tethered unmanned aerial vehicle (TUAV) for structural integrity assessment of underground stone mine pillars. The TUAV, powered by its tether, works in tandem with an ground (UGV) that hosts the TUAV batteries, self-leveled landing platform, and tether management system. UGV were named Rhino Oxpecker, respectively, given stays landed on while ensemble moves inside mine. mission Oxpecker is to create, using LiDAR sensor, 3D maps pillars support...

The engineering design of a hand-launched, small unmanned aerial vehicle (SUAV), including guidance strategy and control design, together with real data from practical flight tests, is presented. main goal in this work the implementation low cost, portable, reliable platform for ground reconnaissance. was specially designed so that number necessary sensors actuators reduced, without precluding feasibility assigned mission.

This paper presents the Quaternion-based Robust Adaptive Unscented Kalman Filter (QRAUKF) for attitude estimation. The proposed methodology modifies and extends standard UKF equations to consistently accommodate non-Euclidean algebra of unit quaternions add robustness fast slow variations in measurement uncertainty. To deal with time-varying perturbations sensors, an adaptive strategy based on covariance matching that tunes matrix online is used. Additionally, outlier detector algorithm...

This paper presents a path-planning approach for tethered robots. The proposed planner finds paths that minimize the tether tension due to tether–obstacle and tether–floor interaction. method assumes is managed externally by management system pulled robot. initially formulated ground robots in 2D environment then extended 3D scenarios, where it can be applied aerial underwater vehicles. taut between two consecutive contact points knowledge of coefficient friction obstacles present...

We address the problem of pattern generation in obstacle-filled environments by a swarm mobile robots. Decentralized controllers are devised using Smoothed Particle Hydrodynamics (SPH) method. The is modelled as an incompressible fluid subjected to external forces. Actual robot issues such finite size and nonholonomic constraints also addressed. Collision avoidance guarantees discussed. Finally, absence obstacles, we prove for first time stability convergence based on SPH.

This paper presents a cooperative, multi-robot solution for searching, excavating, and transporting mineral resources on the Moon. Our work was developed in context of Space Robotics Challenge Phase 2 (SRCP2), which part NASA Centennial Challenges motivated by current Artemis program, flagship initiative that intends to establish long-term human presence In SRCP2 group simulated mobile robots tasked with reporting volatile locations within realistic lunar simulation environment, excavating...

This paper presents a decentralized controller to guide group of aerial robots converge and move along simple closed curve specified in three-dimensional environment. may be considered as perimeter surveilled by the robots. The solution presented this is based on an artificial vector field modulated collision avoidance scheme relies only local sensing. Proofs asymptotic stability proposed are devised for team kinematically controlled rotorcrafts. Experimental results with autonomous...

Autonomous navigation of unmanned vehicles in forests is a challenging task. In such environments, due to the canopies trees, information from Global Navigation Satellite Systems (GNSS) can be degraded or even unavailable. Also, because large number obstacles, previous detailed map environment not practical. this paper, we solve complete problem an aerial robot sparse forest, where there enough space for flight and GNSS signals sporadically detected. For localization, propose state estimator...

Addresses the problem of coordinating multiple mobile robots in a tightly coupled task by means implicit communication. This approach allows development controllers that do not depend on any explicit data flow between robots, thus relying only local sensor information. A box-carrying is used to validate proposed methodology both simulation and real-world experiments. Results show communication can be together or replacing for cooperative box carrying task, making system more robust faulty...

This paper addresses the problem of controlling a large group robots in 2-D pattern generation task. Different from previous methodologies, our approach can be used generic static environments, where obstacles may appear. is based on analogy with simulation fluids electrostatic fields. By means weak coupling between smoothed particle hydrodynamics and finite element method we derive scalable solution decentralized controllers are provided

This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on velocity vector field, which closed-loop that guides the vehicle towards point and simultaneously enforces shape its trajectory. Relative position between zone, can be easily determined using visual sensors installed on-board, only information necessary to perform landing. We present fields used land both fixed- rotary-wing aircrafts. also show experiments...