Multi-UAV specification and control with a single pilot-in-the-loop

Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.

Artículo de Publicación Periódica:
Multi-UAV specification and control with a single pilot-in-the-loop

dc.contributor.author	Moreno, Patricio
dc.contributor.author	Esteva, Santiago
dc.contributor.author	Mas, Ignacio
dc.contributor.author	Giribet, Juan I.
dc.date	info:eu-repo/date/embargoEnd/2021-10-31
dc.date.accessioned	2020-12-11T18:44:54Z
dc.date.available	2020-12-11T18:44:54Z
dc.date.issued	2020-10
dc.description.abstract	"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."	en
dc.identifier.issn	2301-3850
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3250
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1142/S230138502050020X
dc.relation	info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ITBA/ITBACyT/42/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/UTN/5369TC/AR. Buenos Aires. San Nicolás de los Arroyos
dc.relation	info:eu-repo/grantAgreement/UTN/7731TC/AR. Buenos Aires. San Nicolás de los Arroyos
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Buenos Aires. San Nicolás de los Arroyos
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.subject	VEHICULOS AEREOS NO TRIPULADOS	es
dc.subject	CONTROL AUTOMATICO	es
dc.subject	NAVEGACION	es
dc.title	Multi-UAV specification and control with a single pilot-in-the-loop	en
dc.type	Artículos de Publicaciones Periódicas	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Artículo de Publicación Periódica
itba.description.filiation	Fil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Esteva, Santiago. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina