Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments
Gabriel G. R. de Castro,
Tatiana M. B. Santos,
Fabio A. A. Andrade
et al.
Abstract:This research presents a cooperation strategy for a heterogeneous group of robots that comprises two Unmanned Aerial Vehicles (UAVs) and one Unmanned Ground Vehicles (UGVs) to perform tasks in dynamic scenarios. This paper defines specific roles for the UAVs and UGV within the framework to address challenges like partially known terrains and dynamic obstacles. The UAVs are focused on aerial inspections and mapping, while UGV conducts ground-level inspections. In addition, the UAVs can return and land at the UG… Show more
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