Multi-UAV specification and control with a single pilot-in-the-loop

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"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means...

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Detalles Bibliográficos
Autores principales: Moreno, Patricio, Esteva, Santiago, Mas, Ignacio, Giribet, Juan I.
Formato: Artículos de Publicaciones Periódicas acceptedVersion
Lenguaje:Inglés
Publicado: info
Materias:
VEHICULOS AEREOS NO TRIPULADOS
CONTROL AUTOMATICO
NAVEGACION
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3250
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3250
record_format dspace
spelling I32-R138-123456789-32502022-12-07T13:05:46Z Multi-UAV specification and control with a single pilot-in-the-loop Moreno, Patricio Esteva, Santiago Mas, Ignacio Giribet, Juan I. VEHICULOS AEREOS NO TRIPULADOS CONTROL AUTOMATICO NAVEGACION "This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles." info:eu-repo/date/embargoEnd/2021-10-31 2020-12-11T18:44:54Z 2020-12-11T18:44:54Z 2020-10 Artículos de Publicaciones Periódicas info:eu-repo/semantics/acceptedVersion 2301-3850 http://ri.itba.edu.ar/handle/123456789/3250 en info:eu-repo/semantics/altIdentifier/doi/10.1142/S230138502050020X info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ITBA/ITBACyT/42/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/UTN/5369TC/AR. Buenos Aires. San Nicolás de los Arroyos info:eu-repo/grantAgreement/UTN/7731TC/AR. Buenos Aires. San Nicolás de los Arroyos info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Buenos Aires. San Nicolás de los Arroyos info:eu-repo/semantics/embargoedAccess 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 VEHICULOS AEREOS NO TRIPULADOS
CONTROL AUTOMATICO
NAVEGACION
spellingShingle VEHICULOS AEREOS NO TRIPULADOS
CONTROL AUTOMATICO
NAVEGACION
Moreno, Patricio
Esteva, Santiago
Mas, Ignacio
Giribet, Juan I.
Multi-UAV specification and control with a single pilot-in-the-loop
topic_facet VEHICULOS AEREOS NO TRIPULADOS
CONTROL AUTOMATICO
NAVEGACION
description "This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
format Artículos de Publicaciones Periódicas
acceptedVersion
author Moreno, Patricio
Esteva, Santiago
Mas, Ignacio
Giribet, Juan I.
author_facet Moreno, Patricio
Esteva, Santiago
Mas, Ignacio
Giribet, Juan I.
author_sort Moreno, Patricio
title Multi-UAV specification and control with a single pilot-in-the-loop
title_short Multi-UAV specification and control with a single pilot-in-the-loop
title_full Multi-UAV specification and control with a single pilot-in-the-loop
title_fullStr Multi-UAV specification and control with a single pilot-in-the-loop
title_full_unstemmed Multi-UAV specification and control with a single pilot-in-the-loop
title_sort multi-uav specification and control with a single pilot-in-the-loop
publishDate info
url http://ri.itba.edu.ar/handle/123456789/3250
work_keys_str_mv AT morenopatricio multiuavspecificationandcontrolwithasinglepilotintheloop
AT estevasantiago multiuavspecificationandcontrolwithasinglepilotintheloop
AT masignacio multiuavspecificationandcontrolwithasinglepilotintheloop
AT giribetjuani multiuavspecificationandcontrolwithasinglepilotintheloop
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