The rapid development of UAV technology has opened up numerous applications. Further, cooperating drones\footnote{In this paper, we refer to all types of UAVs as drones.} possess a great potential in various areas of ...
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ISBN:
(纸本)9781450336192
The rapid development of UAV technology has opened up numerous applications. Further, cooperating drones\footnote{In this paper, we refer to all types of UAVs as drones.} possess a great potential in various areas of applications. Yet, there has not been a platform for a fleet of drones. It is rather difficult to control multiple drones through a single ground control station. In fact, drones need to consistently exchange flight information to maintain the formation of the fleet and follow the commands given from the GCS. Thus, drones need a robust network established among the fleet to provide a fleet control. In this paper, we propose Net-Drone, a multi-drone platform for applications that require cooperation of multiple drones. Net-Drone is equipped with strong network functionalities to provide a control system for a fleet of drones. Through case studies conducted with a prototype implementation, the proposed system is demonstrated. Video of the conducted case study can be found in http://***/lFaWsEmiQvw.
In this paper, a typical application of multimobile robots, i.e., twin hoisting-girder transporters cooperating to transport a giant concrete girder, is studied. An overall solution based on the hybrid network communi...
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In this paper, a typical application of multimobile robots, i.e., twin hoisting-girder transporters cooperating to transport a giant concrete girder, is studied. An overall solution based on the hybrid network communication framework is presented and the key issues, such as the accurate posture estimation and coordinated control of the two independent transporters forming a team, are researched. In order to obtain the relative distance and orientation angle between two transporters while traveling, a measurement data fusion method using real-time kinematic global positioning system for kinematic locating and in-vehicle speed sensors for speed measuring is proposed. Furthermore, a distributed master-slave coordinated control strategy based on the hybrid network framework is proposed to meet the reliability and accuracy requirements. The application results show that the deviations of the relative distance and the orientation of two transporters during working are not more than 0.1 m and 0.2 degrees, respectively, and it can meet the requirements of the technological specifications.
This article focus on Cybernetic Transport Systems (CTS) due to their effectiveness for solving mobility problems in cities. A new mobility concept is proposed which allows to attain the same flexibility of the privat...
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ISBN:
(纸本)9780889865952
This article focus on Cybernetic Transport Systems (CTS) due to their effectiveness for solving mobility problems in cities. A new mobility concept is proposed which allows to attain the same flexibility of the private passenger car but with much less nuisances. It is based on small semiautonomous electric vehicles, which may be used to complement mass public transportation, by providing passenger service for any location at any time. A set of automatic guided vehicles for public transportation are described. Two different control paradigms of the fleet are compared: centralized vs. decentralized control. The pros and cons of both control approaches are highlighted so as to support decisions about the configuration of a CTS. The article provides a new offer of transport to city authorities in order to move towards sustainable and efficient public transportation systems.
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