Cooperative Sensing and Path Planning In a Multi-Vehicle Environment

J. Melin, M. Lauri, A. Kolu, J. Koljonen, R. Ritala

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    2 Citations (Scopus)

    Abstract

    We study the cooperation of an unmanned ground vehicle (UGV) and micro air vehicle (MAV) in a path planning task. The UGV requests the MAV to execute observation missions which provide stereo image data on areas that the UGVs sensors cannot observe. The problem is formulated as a partially observable decision making problem. The solution is a decision policy that determines conditional on current information whether the UGV should move along a certain route or request an observation mission. A case example for a real-world demonstration of the cooperative path planning task is described. We discuss the features of single-vehicle control systems and propose a multi-vehicle communication framework that is tolerant against communication breaks.
    Original languageEnglish
    Title of host publicationACNAAV 2015: Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles
    Pages198-203
    DOIs
    Publication statusPublished - 2015
    Publication typeA4 Article in a conference publication
    EventWorkshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles - , United Kingdom
    Duration: 1 Jan 2000 → …

    Publication series

    NameIFAC-PapersOnLine
    PublisherElsevier
    Number9
    Volume48
    ISSN (Electronic)2405-8963

    Conference

    ConferenceWorkshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles
    Country/TerritoryUnited Kingdom
    Period1/01/00 → …

    Publication forum classification

    • No publication forum level

    Fingerprint

    Dive into the research topics of 'Cooperative Sensing and Path Planning In a Multi-Vehicle Environment'. Together they form a unique fingerprint.

    Cite this