DocumentCode :
2248277
Title :
Cluster space control of aerial robots
Author :
Agnew, Michael Seamus ; Dal Canto, Patrick ; Kitts, Christopher A. ; Li, Steve
Author_Institution :
Robotic Syst. Lab., Santa Clara Univ., Santa Clara, CA, USA
fYear :
2010
fDate :
6-9 July 2010
Firstpage :
1305
Lastpage :
1310
Abstract :
The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present the application of cluster space control to non-planar groups of two and three aerostatically stable blimps, each with four degrees of freedom. This paper reviews the relevant kinematic transforms and presents both simulation and experimental results that demonstrate successful formation control of these clusters.
Keywords :
aerospace control; aerospace robotics; geometry; mobile robots; monitoring; motion control; multi-robot systems; aerial robots; cluster space control; cluster space state representation; geometry; mobile robots; monitoring; motion characteristics; multirobot systems; Aerospace electronics; Kinematics; Robot sensing systems; Trajectory; Transforms; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on
Conference_Location :
Montreal, ON
Print_ISBN :
978-1-4244-8031-9
Type :
conf
DOI :
10.1109/AIM.2010.5695814
Filename :
5695814
Link To Document :
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