A decentralized approach to drone formation based on leader-follower technique

Autor(es)

de Souza Neto, Amador Marcelino ; Romero, Roseli A. F. ; Colombini, EL ; Junior, PLJD ; Garcia, LTD ; Goncalves, LMG ; Sa, STD ; Estrada, EDD ; Botelho, SSD

• Tipo de documento: Artigo Científico
• Fonte: 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.

Resumo

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)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático
• Processo FAPESP: 17/01687-0 - Arquitetura e aplicações para robótica em ambientes inteligentes
• Beneficiário: Roseli Aparecida Francelin Romero
• Modalidade de apoio: Auxílio à Pesquisa - Regular