In this paper a Control software Architecture for cooperative multiple unmanned aerial Vehicle-manIpulator Systems (CAVIS) is presented. In particular, Unmanned Aerial Vehicles (UAVs) equipped with a robotic manipulator eventually involved in a cooperative object transportation mission are considered. Such robotic systems involve specific constraints given by the interaction of the degrees of freedom of the arms; for example, obstacle avoidance, joint limits, kinematic singularities need to be properly handled together with the main objective of controlling the arm’s end-effector to transport the object. To this end, a proper behavioral approach has been tailored and implemented with the aim to provide modularity and flexibility of use to the architecture. A case study shows the performance of the proposed software architecture.


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    Titel :

    Control Software Architectures for Cooperative Multi Unmanned Aerial Vehicles Manipulator Systems


    Beteiligte:

    Erscheinungsdatum :

    2014-01-01


    Anmerkungen:

    2-s2.0-84929760917



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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