Coordinated ASV-UAV control for marine collision-free navigation

"There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these segmented architectures, such as cost, flexibility, redundancy, and rob...

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Autores principales: Garberoglio, Leonardo, Mas, Ignacio, Giribet, Juan I.
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2020
Materias:
ROBOTICA
VEHICULOS AEREOS NO TRIPULADOS
NAVEGACION
VEHICULOS DE SUPERFICIE NO TRIPULADOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1910
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1910
record_format dspace
spelling I32-R138-123456789-19102022-12-07T14:14:01Z Coordinated ASV-UAV control for marine collision-free navigation Garberoglio, Leonardo Mas, Ignacio Giribet, Juan I. ROBOTICA VEHICULOS AEREOS NO TRIPULADOS NAVEGACION VEHICULOS DE SUPERFICIE NO TRIPULADOS "There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these segmented architectures, such as cost, flexibility, redundancy, and robustness, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those sensors have different characteristics or environments of operation, e.g. aerial, terrestrial or marine vehicles. This work proposes a multi-robot system where an autonomous marine vehicle avoids obstacles relying on aerial images provided by an autonomous flying vehicle. Both robots navigate in a coordinated fashion increasing the detection area and allowing to adjust the obstacle detection horizon. In order to validate the control scheme two simulation scenarios are presented." 2020-03-18T17:00:30Z 2020-03-18T17:00:30Z 2019-09 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-172-8123-63-9 http://ri.itba.edu.ar/handle/123456789/1910 en info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/UTN/AMUTISN0005369TC/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/semantics/altIdentifier/doi/10.1109/RPIC.2019.8882141 application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic ROBOTICA
VEHICULOS AEREOS NO TRIPULADOS
NAVEGACION
VEHICULOS DE SUPERFICIE NO TRIPULADOS
spellingShingle ROBOTICA
VEHICULOS AEREOS NO TRIPULADOS
NAVEGACION
VEHICULOS DE SUPERFICIE NO TRIPULADOS
Garberoglio, Leonardo
Mas, Ignacio
Giribet, Juan I.
Coordinated ASV-UAV control for marine collision-free navigation
topic_facet ROBOTICA
VEHICULOS AEREOS NO TRIPULADOS
NAVEGACION
VEHICULOS DE SUPERFICIE NO TRIPULADOS
description "There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these segmented architectures, such as cost, flexibility, redundancy, and robustness, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those sensors have different characteristics or environments of operation, e.g. aerial, terrestrial or marine vehicles. This work proposes a multi-robot system where an autonomous marine vehicle avoids obstacles relying on aerial images provided by an autonomous flying vehicle. Both robots navigate in a coordinated fashion increasing the detection area and allowing to adjust the obstacle detection horizon. In order to validate the control scheme two simulation scenarios are presented."
format Ponencias en Congresos
acceptedVersion
author Garberoglio, Leonardo
Mas, Ignacio
Giribet, Juan I.
author_facet Garberoglio, Leonardo
Mas, Ignacio
Giribet, Juan I.
author_sort Garberoglio, Leonardo
title Coordinated ASV-UAV control for marine collision-free navigation
title_short Coordinated ASV-UAV control for marine collision-free navigation
title_full Coordinated ASV-UAV control for marine collision-free navigation
title_fullStr Coordinated ASV-UAV control for marine collision-free navigation
title_full_unstemmed Coordinated ASV-UAV control for marine collision-free navigation
title_sort coordinated asv-uav control for marine collision-free navigation
publishDate 2020
url http://ri.itba.edu.ar/handle/123456789/1910
work_keys_str_mv AT garberoglioleonardo coordinatedasvuavcontrolformarinecollisionfreenavigation
AT masignacio coordinatedasvuavcontrolformarinecollisionfreenavigation
AT giribetjuani coordinatedasvuavcontrolformarinecollisionfreenavigation
_version_ 1765660976487596032

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