ICUAS 2020 Paper Abstract

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Paper WeC4.3

Bacheti, Vinicius (Federal University of Espirito Santo), Brandao, Alexandre Santos (Federal University of Vicosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo)

Path-Following with a UGV-UAV Formation Considering that the UAV Lands on the UGV

Scheduled for presentation during the Regular Session "Control Architectures III" (WeC4), Wednesday, September 2, 2020, 17:40−18:00, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, UAS Applications, Micro- and Mini- UAS

Abstract

This paper addresses the control of a formation composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). The formation navigates in a coordinated way, with the UAV following the UGV while keeping a relative pose with respect to the UGV as long as the UGV follows a specified path, so that the UAV can land on the UGV at any desired instant. This application is conceived in a context in which the UAV has finished a package delivery task and comes back to land over a platform used as a base for the package delivery operation. Experimental results are presented, which validate the approach adopted to accomplish such a task.

 

 

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