Hierarchical Control of a Team of Quadrotors for Cooperative Active Target Tracking

Utku Gurcuoglu 1, * Gustavo Armando Puerto-Souza 1 Fabio Morbidi 2, 3 Gian Luca Mariottini 1
* Auteur correspondant
1 ASTRA lab
ASTRA Lab
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper proposes a novel active target tracking strategy for a team of cooperating quadrotors equipped with 3-D range-finding sensors. The work builds upon previous research of the authors, and adopts a realistic nonlinear dynamic model for the quadrotors. A hierarchical controller is designed for the generation and tracking of the desired optimal trajectories of the aerial vehicles, and a discrete-time Kalman filter is used for fusing their local estimates of the target position. Under suitable conditions, it is shown that the cost function for the D-optimality criterion that the quadrotors aim at collaboratively reduce, possesses a single global minimum and no local minima. Numerical simulations and real-world experiments show the effectiveness of the proposed control strategy.
Type de document :
Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov 2013, Tokyo, Japan. pp.5730-5735, 2013
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Soumis le : jeudi 20 mars 2014 - 11:06:20
Dernière modification le : mercredi 9 mars 2016 - 01:06:51
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Utku Gurcuoglu, Gustavo Armando Puerto-Souza, Fabio Morbidi, Gian Luca Mariottini. Hierarchical Control of a Team of Quadrotors for Cooperative Active Target Tracking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov 2013, Tokyo, Japan. pp.5730-5735, 2013. <hal-00961527>

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