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

fYear

2015

fDate

20-22 May 2015

Firstpage

37

Lastpage

43

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Robotics (ICCAR), 2015 International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4673-7522-1

Type

conf

DOI

10.1109/ICCAR.2015.7165998

Filename

7165998