000129787 001__ 129787
000129787 005__ 20240111114816.0
000129787 0247_ $$2doi$$a10.1109/TCST.2018.2834308
000129787 0248_ $$2sideral$$a110857
000129787 037__ $$aART-2018-110857
000129787 041__ $$aeng
000129787 100__ $$aAranda, M.
000129787 245__ $$aScale-Free Vision-Based Aerial Control of a Ground Formation With Hybrid Topology
000129787 260__ $$c2018
000129787 5060_ $$aAccess copy available to the general public$$fUnrestricted
000129787 5203_ $$aWe present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each observing a partial subset of the multirobot team. The units compute the control commands from the ground robots'' image projections, using neither calibration nor scene scale information, and transmit them to the robots. The control strategy relies on the calculation of image similarity transformations, and we show it to be asymptotically stable if the overlaps between the subsets of controlled robots satisfy certain conditions. The presence of the supervisory units, which coordinate their motions to guarantee a correct control performance, gives rise to a hybrid system topology. All in all, the proposed system provides relevant practical advantages in simplicity and flexibility. Within the problem of controlling a team shape, our contribution lies in addressing several simultaneous challenges: the controller needs only partial information of the robotic group, does not use distance measurements or global reference frames, is designed for unicycle agents, and can accommodate topology changes. We present illustrative simulation results. IEEE
000129787 536__ $$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R
000129787 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000129787 590__ $$a5.371$$b2018
000129787 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b29 / 265 = 0.109$$c2018$$dQ1$$eT1
000129787 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b7 / 62 = 0.113$$c2018$$dQ1$$eT1
000129787 592__ $$a1.811$$b2018
000129787 593__ $$aElectrical and Electronic Engineering$$c2018$$dQ1
000129787 593__ $$aControl and Systems Engineering$$c2018$$dQ1
000129787 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000129787 700__ $$aMezouar, Y.
000129787 700__ $$0(orcid)0000-0001-9347-5969$$aLopez-Nicolas, G.$$uUniversidad de Zaragoza
000129787 700__ $$0(orcid)0000-0002-3032-954X$$aSagües, C.$$uUniversidad de Zaragoza
000129787 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000129787 773__ $$g27, 4 (2018), 1703-1711$$pIEEE trans. control syst. technol.$$tIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY$$x1063-6536
000129787 8564_ $$s1747237$$uhttps://zaguan.unizar.es/record/129787/files/texto_completo.pdf$$yPostprint
000129787 8564_ $$s3581159$$uhttps://zaguan.unizar.es/record/129787/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000129787 909CO $$ooai:zaguan.unizar.es:129787$$particulos$$pdriver
000129787 951__ $$a2024-01-11-09:26:54
000129787 980__ $$aARTICLE