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Quadcopter Team Configurable Motion Guided by a Quadruped

Mohammad Ghufran, Sourish Tetakayala, Jack Hughes, Aron Wilson, Hossein Rastgoftar

TL;DR

A two-dimensional affine transformation model for safe and collision-free configurable coordination of this hetero-geneous robotic system and enables safe planning the Jacobian matrix of the quadcopter team while the world is virtually approached the robotic system.

Abstract

The paper focuses on modeling and experimental evaluation of a quadcopter team configurable coordination guided by a single quadruped robot. We consider the quadcopter team as particles of a two-dimensional deformable body and propose a two-dimensional affine transformation model for safe and collision-free configurable coordination of this heterogeneous robotic system. The proposed affine transformation is decomposed into translation, that is specified by the quadruped global position, and configurable motion of the quadcopters, which is determined by a nonsingular Jacobian matrix so that the quadcopter team can safely navigate a constrained environment while avoiding collision. We propose two methods to experimentally evaluate the proposed heterogeneous robot coordination model. The first method measures real positions of quadcopters, quadruped, and environmental objects all with respect to the global coordinate system. On the other hand, the second method measures position with respect to the local coordinate system fixed on the dog robot which in turn enables safe planning the Jacobian matrix of the quadcopter team while the world is virtually approached the robotic system.

Quadcopter Team Configurable Motion Guided by a Quadruped

TL;DR

A two-dimensional affine transformation model for safe and collision-free configurable coordination of this hetero-geneous robotic system and enables safe planning the Jacobian matrix of the quadcopter team while the world is virtually approached the robotic system.

Abstract

The paper focuses on modeling and experimental evaluation of a quadcopter team configurable coordination guided by a single quadruped robot. We consider the quadcopter team as particles of a two-dimensional deformable body and propose a two-dimensional affine transformation model for safe and collision-free configurable coordination of this heterogeneous robotic system. The proposed affine transformation is decomposed into translation, that is specified by the quadruped global position, and configurable motion of the quadcopters, which is determined by a nonsingular Jacobian matrix so that the quadcopter team can safely navigate a constrained environment while avoiding collision. We propose two methods to experimentally evaluate the proposed heterogeneous robot coordination model. The first method measures real positions of quadcopters, quadruped, and environmental objects all with respect to the global coordinate system. On the other hand, the second method measures position with respect to the local coordinate system fixed on the dog robot which in turn enables safe planning the Jacobian matrix of the quadcopter team while the world is virtually approached the robotic system.
Paper Structure (17 sections, 1 theorem, 22 equations, 13 figures, 2 tables)

This paper contains 17 sections, 1 theorem, 22 equations, 13 figures, 2 tables.

Table of Contents

  1. INTRODUCTION
  2. Related Work
  3. Contributions
  4. Outline
  5. System Control
  6. APPROACH
  7. Planning of Quadcopter Team Deformation
  8. Safety Assurance
  9. Experimental Evaluation Methods
  10. EXPERIMENTAL SETUP
  11. Quadcopter and quadruped robots
  12. Ground Station Computer (GSC)
  13. Motion Capture System
  14. EXPERIMENTAL RESULTS
  15. Experiment with Hardware
  16. ...and 2 more sections

Key Result

Theorem 1

If Assumptions assum1, then, entries of matrix $\mathbf{Q}(t)$, denoted by $Q_{11}(t)$, $Q_{12}(t)$, $Q_{21}(t)$, and $Q_{22}(t)$, by where is constant, where $\otimes$ is the Kronecker product symbol.

Figures (13)

  • Figure 1: System overview
  • Figure 2: Demonstration of Local Coordinate System (LCS) and Global Coordinate System (GCS)
  • Figure 3: Schematic of desired configuration of the robotic system
  • Figure 4: Experimental system overview
  • Figure 5: Actual versus desired x-position
  • ...and 8 more figures

Theorems & Definitions (3)

  • Definition 1
  • Theorem 1
  • Remark 1