Cooperative Aerial Payload Transport Guided by an In Situ Human Supervisor
Cooperative Aerial Payload Transport Guided by an In Situ Human Supervisor
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由现场人类监督员指导的合作空中有效载荷运输
DOI：
10.1109/tcst.2018.2832598
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发表时间：
2019
影响因子：
4.8
通讯作者：
E. Atkins
中科院分区：
文献类型：
--
作者：
H. Rastgoftar;E. Atkins
本文定义和分析了一种由现场人类监督员提供触觉运动提示的协作式空中有效载荷运输任务。虽然多个小型空中机器人(例如，四轴飞行器)承载着有效载荷的重量，但人类通过对有效载荷施加推力来指定四轴飞行器团队的穿越方向变化。在这一监控应用中，我们展示了如何将线性动量原理用于有限的人类意图识别。该问题被描述为使用连续变形协作控制协议的四轴飞行器团队的实时路径规划，该协议确保避免代理间和障碍物碰撞以及人类主管的安全。
This paper defines and analyzes a cooperative aerial payload transport mission in which an onsite human supervisor provides haptic motion cues. While multiple small aerial robots (e.g., quadcopters) carry the weight of the payload, a human specifies traversal direction changes to the quadcopter team by exerting a pushing force on the payload. We show how the principle of linear momentum can be used for limited human intent recognition in this supervisory control application. This problem is formulated as real-time path planning of the quadcopter team using a continuum deformation cooperative control protocol that assures avoidance of interagent and obstacle collisions as well as safety of the human supervisor.
影响因子：
3.1
作者：
Beckerle P;Salvietti G;Unal R;Prattichizzo D;Rossi S;Castellini C;Hirche S;Endo S;Amor HB;Ciocarlie M;Mastrogiovanni F;Argall BD;Bianchi M
通讯作者：
Bianchi M