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

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

Ponencia en Congreso:
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.accessioned	2020-04-15T14:20:27Z
dc.date.available	2020-04-15T14:20:27Z
dc.date.issued	2019-09
dc.description.abstract	"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory following controller based on the cluster-space 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.uri	http://ri.itba.edu.ar/handle/123456789/1953
dc.language.iso	en	en
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/13/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires
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	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/publishedVersion
dspace.entity.type	Ponencia en Congreso
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. 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.