CAVIS: A control software architecture for cooperative multi-unmanned aerial vehIcle-manipulator systems

G. Antonelli, K. Baizid, F. Caccavale, G. Giglio, F. Pierri, "CAVIS: A control software architecture for cooperative multi-unmanned aerial vehIcle-manipulator systems", 19th IFAC World Congress, Aug. 2014

Abstract: 
In this paper a Control software Architecture for Cooperative multiple unmanned aerial VehIcle-manipulator Systems (CAVIS) is presented. 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 a cooperative transportation of a bar by two aerial vehicle- manipulator systems, is developed to assess the performance of the proposed architecture.
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