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| Campo DC | Valor | Lengua/Idioma |
|---|---|---|
| dc.creator | Rosales, Claudio Dario | - |
| dc.creator | Leica Arteaga, Paulo Cesar | - |
| dc.creator | Sarcinelli Filho, Mario | - |
| dc.creator | Scaglia, Gustavo Juan Eduardo | - |
| dc.creator | Carelli Albarracin, Ricardo Oscar | - |
| dc.date | 2018-10-05T16:49:59Z | - |
| dc.date | 2018-10-05T16:49:59Z | - |
| dc.date | 2016-12 | - |
| dc.date | 2018-09-27T20:19:16Z | - |
| dc.date.accessioned | 2019-04-29T15:42:08Z | - |
| dc.date.available | 2019-04-29T15:42:08Z | - |
| dc.date.issued | 2016-12 | - |
| dc.identifier | Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar; 3D Formation Control of Autonomous Vehicles Based on Null-Space; Springer; Journal of Intelligent & Robotic Systems; 84; 1-4; 12-2016; 453-467 | - |
| dc.identifier | 0921-0296 | - |
| dc.identifier | http://hdl.handle.net/11336/61776 | - |
| dc.identifier | CONICET Digital | - |
| dc.identifier | CONICET | - |
| dc.identifier.uri | http://rodna.bn.gov.ar:8080/jspui/handle/bnmm/299924 | - |
| dc.description | This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system. | - |
| dc.description | Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina | - |
| dc.description | Fil: Leica Arteaga, Paulo Cesar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina | - |
| dc.description | Fil: Sarcinelli Filho, Mario. Universidade Federal do Espírito Santo; Brasil | - |
| dc.description | Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina | - |
| dc.description | Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina | - |
| dc.format | application/pdf | - |
| dc.format | application/pdf | - |
| dc.format | application/pdf | - |
| dc.language | eng | - |
| dc.publisher | Springer | - |
| dc.relation | info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s10846-015-0329-5 | - |
| dc.relation | info:eu-repo/semantics/altIdentifier/doi/https://dx.doi.org/10.1007/s10846-015-0329-5 | - |
| dc.rights | info:eu-repo/semantics/restrictedAccess | - |
| dc.rights | https://creativecommons.org/licenses/by-nc-sa/2.5/ar/ | - |
| dc.source | reponame:CONICET Digital (CONICET) | - |
| dc.source | instname:Consejo Nacional de Investigaciones Científicas y Técnicas | - |
| dc.source | instacron:CONICET | - |
| dc.source.uri | http://hdl.handle.net/11336/5538 | - |
| dc.subject | AERIAL FORMATION CONTROL | - |
| dc.subject | NULL SPACE | - |
| dc.subject | QUADROTOR | - |
| dc.subject | Ingeniería de Sistemas y Comunicaciones | - |
| dc.subject | Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información | - |
| dc.subject | INGENIERÍAS Y TECNOLOGÍAS | - |
| dc.title | 3D Formation Control of Autonomous Vehicles Based on Null-Space | - |
| dc.type | info:eu-repo/semantics/article | - |
| dc.type | info:eu-repo/semantics/publishedVersion | - |
| dc.type | info:ar-repo/semantics/articulo | - |
| Aparece en las colecciones: | CONICET | |
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