Decentralized Controllers for Perimeter Surveillance with Aerial Robots
Journal Article, Advanced Robotics: Aerial Robots, Vol. 27, No. 9, pp. 697 - 709, May, 2013
Abstract
This paper presents a decentralized controller to guide a group of aerial robots to converge to and to move along a simple closed curve specified in a three-dimensional environment. This curve may be considered as a perimeter to be surveilled by the robots. The solution presented in this paper is based on an artificial vector field modulated by a collision avoidance scheme and relies only on local sensing. Proofs of asymptotic stability of the proposed controller are devised for a team of kinematically controlled rotorcrafts. Experimental results with a group of autonomous quadrotors are presented to validate the applicability and performance of the approach.
BibTeX
@article{Pimenta-2013-7727,author = {L. C. A. Pimenta and G. A. S. Pereira and M. M. Goncalves and Nathan Michael and M. Turpin and V. Kumar},
title = {Decentralized Controllers for Perimeter Surveillance with Aerial Robots},
journal = {Advanced Robotics: Aerial Robots},
year = {2013},
month = {May},
volume = {27},
number = {9},
pages = {697 - 709},
}
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