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http://dx.doi.org/10.5302/J.ICROS.2011.17.2.102

Cooperation of Heterogeneous Robot Team for Localization and Map Building  

Jeong, Jin-Su (Kyunghee University)
Lim, Yun-Won (Kyunghee University)
Kang, Soo-Hyek (Kyunghee University)
Kim, Dong-Han (Kyunghee University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.2, 2011 , pp. 102-107 More about this Journal
Abstract
In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.
Keywords
heterogeneous; map building; cooperation; wheeled robot; helicopter;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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