Title :
A decentralized interactive architecture for aerial and ground mobile robots cooperation
Author :
Harik, El Houssein Chouaib ; Guinand, Frederic ; Pelvillain, Herve ; Guerin, Francois ; Brethe, Jean-Francois
Author_Institution :
LITIS, Univ. of Le Havre, Le Havre, France
Abstract :
This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
Keywords :
autonomous aerial vehicles; decentralised control; feature extraction; inspection; mobile robots; multi-robot systems; robot vision; aerial mobile robots cooperation; area inspection; coverage view; decentralized interactive architecture; global coverage; ground features; ground mobile robots cooperation; human-in-the-loop; local coverage; unmanned aerial vehicle; unmanned ground vehicle; Cameras; Inspection; Market research; Mobile robots; Navigation; Real-time systems; Surveillance; DES algorithm; air-ground-cooperation; non-linear kinematic controller; unmanned aerial vehicles; unmanned ground vehicles;
Conference_Titel :
Control, Automation and Robotics (ICCAR), 2015 International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4673-7522-1
DOI :
10.1109/ICCAR.2015.7165998
