UAV-UGV Cooperation For Objects Transportation In An Industrial Area

El Houssein Chouaib Harik (1) , François Guérin (2) , Frédéric Guinand (1) , Jean-François Brethé (2) , Hervé Pelvillain (3)

1 RI2C - LITIS - Equipe Réseaux d'interactions et Intelligence Collective
2 GREAH - Groupe de Recherche en Electrotechnique et Automatique du Havre
3 ULH - Université Le Havre Normandie

— We present in this paper a decentralized multi-robot (aerial and ground) cooperation scheme for objects transportation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,...) in unsafe industrial areas. One ground mobile robot (leader) navigates among obstacles thanks to the waypoints provided by the drone and the human operator. The other ground mobile robots (followers) use a predictive vision based target tracking controller to keep a certain distance and bearing to the leader.

Domaines: Robotique [cs.RO]

El Houssein Chouaib Harik, François Guérin, Frédéric Guinand, Jean-François Brethé, Hervé Pelvillain. UAV-UGV Cooperation For Objects Transportation In An Industrial Area. ICIT 2015. 2015 IEEE International Conference on Industrial Technology, Mar 2015, Séville, Spain. pp.547-552, ⟨10.1109/ICIT.2015.7125156⟩. ⟨hal-01141993⟩