Coordinated ASV-UAV control for marine collision-free navigation

Garberoglio, Leonardo; Mas, Ignacio; Giribet, Juan I.

Ponencia en Congreso:
Coordinated ASV-UAV control for marine collision-free navigation

dc.contributor.author	Garberoglio, Leonardo
dc.contributor.author	Mas, Ignacio
dc.contributor.author	Giribet, Juan I.
dc.date.accessioned	2020-03-18T17:00:30Z
dc.date.available	2020-03-18T17:00:30Z
dc.date.issued	2019-09
dc.description.abstract	"There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these segmented architectures, such as cost, flexibility, redundancy, and robustness, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those sensors have different characteristics or environments of operation, e.g. aerial, terrestrial or marine vehicles. This work proposes a multi-robot system where an autonomous marine vehicle avoids obstacles relying on aerial images provided by an autonomous flying vehicle. Both robots navigate in a coordinated fashion increasing the detection area and allowing to adjust the obstacle detection horizon. In order to validate the control scheme two simulation scenarios are presented."	en
dc.identifier.isbn	978-172-8123-63-9
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/1910
dc.language.iso	en	en
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/UBA/UBACyT/PDE/18-2019/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/UTN/AMUTISN0005369TC/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1109/RPIC.2019.8882141
dc.subject	ROBOTICA	es
dc.subject	VEHICULOS AEREOS NO TRIPULADOS	es
dc.subject	NAVEGACION	es
dc.subject	VEHICULOS DE SUPERFICIE NO TRIPULADOS	es
dc.title	Coordinated ASV-UAV control for marine collision-free navigation	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Garberoglio, Leonardo. Universidad Tecnológica Nacional. Facultad Regional San Nicolás; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; 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.