Can UAV and UGV Be Best Buddies? - Towards Heterogeneous Aerial-ground Cooperative Robot System for Complex Aerial Manipulation Tasks

Tamara Petrovic, Tomislav Haus, Barbara Arbanas, Matko Orsag, Stjepan Bogdan

Abstract

This paper presents the results of our efforts to build a heterogeneous robotic system capable of executing complex disaster response and recovery tasks. We aim to explore high level task scheduling and mission planning algorithms that enable various types of robots to cooperate together, utilizing each others strengths to yield a symbiotic robotic system. In the proposed scenario, a ground vehicle and an aerial robot work together to close a valve in a disaster stricken industrial environment. To that end we use TÆMS framework in order to specify interrelationships between mission subtasks and develop an effective scheduling and coordination mechanism, inspired by Generalized Partial Global Planning. We present simulation results with two different outcomes that show cooperative capabilities of the system.

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Paper Citation


in Harvard Style

Petrovic T., Haus T., Arbanas B., Orsag M. and Bogdan S. (2015). Can UAV and UGV Be Best Buddies? - Towards Heterogeneous Aerial-ground Cooperative Robot System for Complex Aerial Manipulation Tasks . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 238-245. DOI: 10.5220/0005548302380245


in Bibtex Style

@conference{icinco15,
author={Tamara Petrovic and Tomislav Haus and Barbara Arbanas and Matko Orsag and Stjepan Bogdan},
title={Can UAV and UGV Be Best Buddies? - Towards Heterogeneous Aerial-ground Cooperative Robot System for Complex Aerial Manipulation Tasks},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={238-245},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005548302380245},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Can UAV and UGV Be Best Buddies? - Towards Heterogeneous Aerial-ground Cooperative Robot System for Complex Aerial Manipulation Tasks
SN - 978-989-758-122-9
AU - Petrovic T.
AU - Haus T.
AU - Arbanas B.
AU - Orsag M.
AU - Bogdan S.
PY - 2015
SP - 238
EP - 245
DO - 10.5220/0005548302380245