Experiments in multirobot air-ground coordination

This paper addresses the problem of coordinating aerial and ground vehicles in tasks that involve exploration, identification of targets and maintaining a connected communication network. We focus on the problem of localizing vehicles in urban environments where GPS signals are often unreliable or u...

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Bibliographic Details
Main Authors: Chaimowicz, L., Grocholsky, B., Keller, J.F., Vijay Kumar, Taylor, C.J.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Global Positioning System
Intelligent robots
Laboratories
Land vehicles
Military communication
Motion control
Road vehicles
Robot kinematics
Robot sensing systems
Robotics
Unmanned aerial vehicles
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Summary:This paper addresses the problem of coordinating aerial and ground vehicles in tasks that involve exploration, identification of targets and maintaining a connected communication network. We focus on the problem of localizing vehicles in urban environments where GPS signals are often unreliable or unavailable. We first describe our multi-robot testbed and the control software used to coordinate ground and aerial vehicles. We present the results of experiments in air-ground localization analyzing three complementary approaches to determining the positions of vehicles on the ground. We show that the coordination of aerial vehicles with ground vehicles is necessary to get accurate estimates of the state of the system.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1308905