The power-tethered UAV-UGV team: A collaborative strategy for navigation in partially-mapped environments

Christos Papachristos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the concept of an unmanned robotic team, consisting of an aerial and a ground vehicle, and a power-tethering physical link between them, and proposes a strategy that addresses their collaborative navigation problem. The purpose of such a team is to exploit the technical advantages of differentiated unmanned vehicle classes in an approach that benefits the global navigation objective, but with each agent also directly benefiting from the capabilities of the other at an operational level. This conceptual team aims to address the challenge of prolonged autonomous navigation within environments, for which a limited amount of information is available prior to deployment. To this end, the team works its way through the map, while incrementally exploring and rebuilding the actual environment structure, relying on sampling-based trajectory planning techniques and a 2×2-Dimensional decomposed manifold model of its workspace. A challenging environment model is formulated for simulation purposes of the proposed approach, and the respective results are provided.

Original languageEnglish (US)
Title of host publication2014 22nd Mediterranean Conference on Control and Automation, MED 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1153-1158
Number of pages6
ISBN (Electronic)9781479959006
DOIs
StatePublished - Nov 18 2014
Event22nd Mediterranean Conference on Control and Automation, MED 2014 - Palermo, Italy
Duration: Jun 16 2014Jun 19 2014

Publication series

Name2014 22nd Mediterranean Conference on Control and Automation, MED 2014

Other

Other22nd Mediterranean Conference on Control and Automation, MED 2014
CountryItaly
CityPalermo
Period6/16/146/19/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems

Cite this

Papachristos, C., & Tzes, A. (2014). The power-tethered UAV-UGV team: A collaborative strategy for navigation in partially-mapped environments. In 2014 22nd Mediterranean Conference on Control and Automation, MED 2014 (pp. 1153-1158). [6961531] (2014 22nd Mediterranean Conference on Control and Automation, MED 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2014.6961531