NDLI: CAVIS: a Control software Architecture for cooperative multi-unmanned aerial VehIcle-manipulator Systems

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CAVIS: a Control software Architecture for cooperative multi-unmanned aerial VehIcle-manipulator Systems

Content Provider	Semantic Scholar
Author	Antonelli, Gianluca Baizid, Khelifa Caccavale, Fabrizio Giglio, Gerardo Pierri, Francesco
Copyright Year	2014
Abstract	Abstract In this paper a Control software Architecture for Cooperative multiple unmanned aerial VehIcle-manipulator Systems (CAVIS) is presented. The core of the architecture is a set of software components, communicating each other through a set of defined messages. To handle multiple control objectives simultaneously, a library of elementary behaviors is defined; then, multiple elementary behaviors are combined, in a given priority order, into tasks (compound behaviors); to this aim the Null-Space-based Behavioral (NSB) approach has been adopted. An application example, involving a cooperative transportation of a bar by two aerial vehicle-manipulator systems, is developed to assess the performance of the proposed architecture.
Starting Page	1108
Ending Page	1113
Page Count	6
File Format	PDF HTM / HTML
DOI	10.3182/20140824-6-ZA-1003.02366
Volume Number	47
Alternate Webpage(s)	http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2366.pdf
Alternate Webpage(s)	https://folk.ntnu.no/skoge/prost/proceedings/ifac2014/media/files/2366.pdf
Alternate Webpage(s)	https://doi.org/10.3182/20140824-6-ZA-1003.02366
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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