Multi-UAV Specification and Control with a Single Pilot-in-the-Loop

Autores
Moreno, Patricio; Esteva, Santiago; Mas, Ignacio Agustin; Giribet, Juan Ignacio
Año de publicación
2019
Idioma
inglés
Tipo de recurso
documento de conferencia
Estado
versión publicada
Descripción
This work presents a multi-unmanned aerial vehicle formation implementing a trajectory- following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a con- trol station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or tak- ing 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 en- vironment first, and then deployed for outdoor field experiments. Results are shown in differ- ent scenarios using a cluster of three autonomous unmanned aerial vehicles.
Fil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Esteva, Santiago. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; Argentina
Fil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina
11th International Conference on Microaerial Vehicles
Madrid
España
Universidad Politécnica Madrid
Materia
Vehículos aéreos no tripulados
Control coordinado
Robótica móvil
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/156980
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Multi-UAV Specification and Control with a Single Pilot-in-the-LoopMoreno, PatricioEsteva, SantiagoMas, Ignacio AgustinGiribet, Juan IgnacioVehículos aéreos no tripuladosControl coordinadoRobótica móvilhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work presents a multi-unmanned aerial vehicle formation implementing a trajectory- following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a con- trol station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or tak- ing 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 en- vironment first, and then deployed for outdoor field experiments. Results are shown in differ- ent scenarios using a cluster of three autonomous unmanned aerial vehicles.Fil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Esteva, Santiago. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; ArgentinaFil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; ArgentinaFil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina11th International Conference on Microaerial VehiclesMadridEspañaUniversidad Politécnica MadridWorld ScientificCampoy, Pascualde la Puente, PalomaBavle, HridayCarrio, Adrian2019info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjectConferenciaJournalhttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/156980Multi-UAV Specification and Control with a Single Pilot-in-the-Loop; 11th International Conference on Microaerial Vehicles; Madrid; España; 2019; 269-2772301-38502301-3869CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.worldscientific.com/doi/abs/10.1142/S230138502050020Xinfo:eu-repo/semantics/altIdentifier/doi/10.1142/S230138502050020XInternacionalinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-03T10:10:42Zoai:ri.conicet.gov.ar:11336/156980instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-03 10:10:42.657CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Multi-UAV Specification and Control with a Single Pilot-in-the-Loop
title Multi-UAV Specification and Control with a Single Pilot-in-the-Loop
spellingShingle Multi-UAV Specification and Control with a Single Pilot-in-the-Loop
Moreno, Patricio
Vehículos aéreos no tripulados
Control coordinado
Robótica móvil
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
dc.creator.none.fl_str_mv Moreno, Patricio
Esteva, Santiago
Mas, Ignacio Agustin
Giribet, Juan Ignacio
author Moreno, Patricio
author_facet Moreno, Patricio
Esteva, Santiago
Mas, Ignacio Agustin
Giribet, Juan Ignacio
author_role author
author2 Esteva, Santiago
Mas, Ignacio Agustin
Giribet, Juan Ignacio
author2_role author
author
author
dc.contributor.none.fl_str_mv Campoy, Pascual
de la Puente, Paloma
Bavle, Hriday
Carrio, Adrian
dc.subject.none.fl_str_mv Vehículos aéreos no tripulados
Control coordinado
Robótica móvil
topic Vehículos aéreos no tripulados
Control coordinado
Robótica móvil
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work presents a multi-unmanned aerial vehicle formation implementing a trajectory- following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a con- trol station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or tak- ing 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 en- vironment first, and then deployed for outdoor field experiments. Results are shown in differ- ent scenarios using a cluster of three autonomous unmanned aerial vehicles.
Fil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Esteva, Santiago. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina
Fil: Mas, Ignacio Agustin. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Instituto Tecnológico de Buenos Aires; Argentina
Fil: Giribet, Juan Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería. Departamento de Electronica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Saavedra 15. Instituto Argentino de Matemática Alberto Calderón; Argentina
11th International Conference on Microaerial Vehicles
Madrid
España
Universidad Politécnica Madrid
description This work presents a multi-unmanned aerial vehicle formation implementing a trajectory- following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a con- trol station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or tak- ing 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 en- vironment first, and then deployed for outdoor field experiments. Results are shown in differ- ent scenarios using a cluster of three autonomous unmanned aerial vehicles.
publishDate 2019
dc.date.none.fl_str_mv 2019
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
Conferencia
Journal
http://purl.org/coar/resource_type/c_5794
info:ar-repo/semantics/documentoDeConferencia
status_str publishedVersion
format conferenceObject
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/156980
Multi-UAV Specification and Control with a Single Pilot-in-the-Loop; 11th International Conference on Microaerial Vehicles; Madrid; España; 2019; 269-277
2301-3850
2301-3869
CONICET Digital
CONICET
url http://hdl.handle.net/11336/156980
identifier_str_mv Multi-UAV Specification and Control with a Single Pilot-in-the-Loop; 11th International Conference on Microaerial Vehicles; Madrid; España; 2019; 269-277
2301-3850
2301-3869
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.worldscientific.com/doi/abs/10.1142/S230138502050020X
info:eu-repo/semantics/altIdentifier/doi/10.1142/S230138502050020X
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.coverage.none.fl_str_mv Internacional
dc.publisher.none.fl_str_mv World Scientific
publisher.none.fl_str_mv World Scientific
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.13397

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