| Full text | |
| Author(s): |
de Souza Neto, Amador Marcelino
;
Romero, Roseli A. F.
;
Colombini, EL
;
Junior, PLJD
;
Garcia, LTD
;
Goncalves, LMG
;
Sa, STD
;
Estrada, EDD
;
Botelho, SSD
Total Authors: 9
|
| Document type: | Journal article |
| Source: | 2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019); v. N/A, p. 5-pg., 2019-01-01. |
| Abstract | |
In recent years, the control of drones has been the focus of several studies, since they have been used in several applications. In this article, a layered control architecture is being proposed to decentralize the development of the control system. Different modes of follow-up with formation, based on the leader-follower strategy, are investigated. These formation algorithms were implemented and compared in the ROS environment using Gazebo simulator. Experiments performed considering some test cases demonstrate good performance and robustness of the proposed system. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 17/01687-0 - Architecture and applications for robotics in intelligent environments |
| Grantee: | Roseli Aparecida Francelin Romero |
| Support Opportunities: | Regular Research Grants |