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This paper presents a decentralized multi-agent motion planning method for aerial robots moving among 3D polygonal obstacles. The algorithm combines a prioritized A∗ algorithm for high-level (global) planning along with a barrier functions-based method for low-level (local) coordination and control. We first extend the barriers function method developed in earlier work to treat arbitrary polygonal...
This paper proposes a control structure for a heterogeneous leader-follower formation involving an unmanned ground vehicle (UGV) — the leader, and an unmanned aerial vehicle (UAV) — the follower, based on their kinematic models. The control architecture is a centralized one, in which it is possible to get the robots sensory data and to synthesize and deliver the control signals necessary to establish...
In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge...
An algorithm was developed for the formation flight of a team of fixed-wing aircraft to follow a desired trajectory described in terms of given waypoints. In-flight formation change can be commanded at set points along the trajectory or on demand. The algorithm makes use of the Hungarian algorithm for formation position assignment in a local tangent coordinate system. Trajectories of the aircraft...
This paper investigates forest monitoring and fire detection strategies using a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). UAVs have great advantages in forest fire detection and fighting. However they have limited running time and payload capabilities, therefore UGVs are paired with UAVs to avoid their demerits. First, UGVs are used to transport the UAVs to the nearest...
A dynamic and decentralized assignment algorithm based on one-to-one coordination is proposed to solve the multi-target allocation problem under communication constraints. The objective is to assign the intruders dynamically among the available aerial robots in order to keep as many intruders as possible under tracking. When an aerial robot is not tracking a target, it is patrolling the area in order...
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