artículo de publicación periódica.page.titleprefix
Multi-UAV specification and control with a single pilot-in-the-loop

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dc.contributor.authorMoreno, Patricio
dc.contributor.authorEsteva, Santiago
dc.contributor.authorMas, Ignacio
dc.contributor.authorGiribet, Juan I.
dc.dateinfo:eu-repo/date/embargoEnd/2021-10-31
dc.date.accessioned2020-12-11T18:44:54Z
dc.date.available2020-12-11T18:44:54Z
dc.date.issued2020-10
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.issn2301-3850
dc.identifier.urihttp://ri.itba.edu.ar/handle/123456789/3250
dc.language.isoenen
dc.relationinfo:eu-repo/semantics/altIdentifier/doi/10.1142/S230138502050020X
dc.relationinfo:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires
dc.relationinfo:eu-repo/grantAgreement/ITBA/ITBACyT/42/AR. Ciudad Autónoma de Buenos Aires
dc.relationinfo:eu-repo/grantAgreement/UTN/5369TC/AR. Buenos Aires. San Nicolás de los Arroyos
dc.relationinfo:eu-repo/grantAgreement/UTN/7731TC/AR. Buenos Aires. San Nicolás de los Arroyos
dc.relationinfo:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Buenos Aires. San Nicolás de los Arroyos
dc.rightsinfo:eu-repo/semantics/embargoedAccess
dc.subjectVEHICULOS AEREOS NO TRIPULADOSes
dc.subjectCONTROL AUTOMATICOes
dc.subjectNAVEGACIONes
dc.titleMulti-UAV specification and control with a single pilot-in-the-loopen
dc.typeArtículos de Publicaciones Periódicases
dc.typeinfo:eu-repo/semantics/acceptedVersion
dspace.entity.typeArtículo de Publicación Periódica
itba.description.filiationFil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiationFil: Esteva, Santiago. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiationFil: Mas, Ignacio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiationFil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
itba.description.filiationFil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina
itba.description.filiationFil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina
itba.description.filiationFil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina

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