A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

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HARIK , el Houssein Chouaib ; Guérin , François ; Guinand , Frédéric ; Brethé , Jean-François ; Pelvillain , Hervé (2015)
  • Publisher: HAL CCSD
  • Related identifiers: doi: 10.1109/ICCAR.2015.7165998
  • Subject: Unmanned Ground Ve-hicles | non-linear kinematic controller | [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO] | Air-Ground-Cooperation | Computer Science - Robotics | DES algorithm | —Unmanned Aerial Vehicles

International audience; —This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
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