空陸協調のための分散型インタラクティブアーキテクチャ
A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation
空中ロボットが広域を監視し地上ロボットが局所を調査する協調システムを提案し、人間が地上ロボットの経路を指示する仕組みを組み込んだ。
著者: El Houssein Chouaib Harik, François Guérin, Frédéric Guinand, Jean-François Brethé, Hervé Pelvillain
分類: cs.RO
原文アブストラクト
This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.
