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History of Robotics Research and Development of Japan2012LocomotionDecentralized Controllers for Perimeter Surveillance with Teams of Aerial Robots

Luciano C. A. PimentaUniversidade Federal de Minas Gerais
Guilherme A. S. PereiraUniversidade Federal de Minas Gerais
Mateus M. GonçalvesBrazilian Navy Corps of Engineers
Nathan MichaelCarnegie Mellon University
Matthew TurpinUniversity of Pennsylvania
Vijay KumarUniversity of Pennsylvania
This paper presents a decentralized controller to guide a group of aerial robots to converge to and to move along a simple closed curve specified in a three-dimensional environment. This curve may be considered as a perimeter to be surveilled by the robots. The solution presented in this paper is based on an artificial vector field modulated by a collision avoidance scheme and relies only on local sensing. Proofs of asymptotic stability of the proposed controller are devised for a team of kinematically controlled rotorcrafts. Experimental results with a group of autonomous quadrotors are presented to validate the applicability and performance of the approach. RSJ Advanced Robotics Best Paper Award in 2014.
Two manifolds {α1=0} and {α2=0} with their intersection curve Γ.
Two manifolds {α1=0} and {α2=0} with their intersection curve Γ.
The team of six quadrotors used in experimentation.
The team of six quadrotors used in experimentation.
The team of six quadrotors during an experimental trail tracking the desired curve while avoiding inter-robot collisions.
The team of six quadrotors during an experimental trail tracking the desired curve while avoiding inter-robot collisions.

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Correspondence papers

Luciano C.A. Pimenta, Guilherme A.S. Pereira, Mateus M. Goncalves, Nathan Michael, Matthew Turpin, and Vijay Kumar：Decentralized Controllers for Perimeter Surveillance with Teams of Aerial Robots

Advanced Robotics Vol.27 No.9 pp.697-709, 2013.

Related papers

1) Gonçalves, V.M., Pimenta, L.C.A., Maia, C.A., Dutra, B.C.O. and Pereira, G.A.S. 2010. Vector fields for robot navigation along time-varying curves in n-dimensions. IEEE Trans. Robot., 26: 647–659.

2) Michael, N, Mellinger, D, Lindsey, Q and Kumar, V. 2010. The GRASP multiple micro UAV testbed. IEEE Robotics and Automation Magazine, 17(3): 56–65.

3) Hsieh MA, Loizou S, Kumar V. Stabilization of multiple robots on stable orbits via local sensing. Proc. IEEE Int. Conf. Robot. Autom. 2007:2312–2317.

4) Lee T, Leok M, McClamroch NH. Geometric tracking control of a quadrotor UAV on SE(3). In: Proc. IEEE Conf. Decision and Control; 2010; Atlanta, GA. p. 5420–5425.

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