Abstract
In missions that require robotic vehicles operating with a high level of autonomy, the coordination and the tasks assigned for each vehicle play a crucial role. In this work, we present a coordination control strategy applied in a searching scenario of oceanographic research buoys taking into account the problem of communication constraints. The proposed control strategy include the assignment of two different teams of unmanned aerial vehicles (UAVs) that search and acquire data from buoys with unknown locations in complex coastal or remote oceanic regions. We present a 3-layer architecture that search for the buoys, enables communication with them, and creates a UAV communication network with a quality-of-service scheme to recover the data. Extensive simulations illustrate the performance of the proposed coordinated control strategy.
J.B. de Sousa—This work was supported by project MARINEUAS that has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 642153.
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Braga, J., Aguiar, A.P., de Sousa, J.B. (2018). Coordinated Multi-UAV Exploration Strategy for Large Areas with Communication Constrains. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_13
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DOI: https://doi.org/10.1007/978-3-319-70833-1_13
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