In this paper a Control software Architecture for Cooperative multiple unmanned aerial VehIcle-manipulator Systems (CAVIS) is developed. 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 the cooperative transportation by two aerial vehicle-manipulator systems, is developed to assess the performance of the proposed software architecture.
CAVIS: A Control Software Architecture for Cooperative Multi-Unmanned Aerial VehIcle-Manipulator Systems
CACCAVALE, Fabrizio;GIGLIO, GERARDO;PIERRI, FRANCESCO
2014-01-01
Abstract
In this paper a Control software Architecture for Cooperative multiple unmanned aerial VehIcle-manipulator Systems (CAVIS) is developed. 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 the cooperative transportation by two aerial vehicle-manipulator systems, is developed to assess the performance of the proposed software architecture.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
