UAV–UGV Formation for Delivery Missions: A Practical Case Study
Robotic transport missions serve a variety of valuable purposes within similar contexts. These include delivering packages in urban or remote areas, dispatching supplies to disaster or conflict zones, and facilitating delivery operations. In such a context, this work deals with the cooperation and c...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/48 |
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| author | Leonardo A. Fagundes-Júnior Celso O. Barcelos Amanda Piaia Silvatti Alexandre S. Brandão |
| author_facet | Leonardo A. Fagundes-Júnior Celso O. Barcelos Amanda Piaia Silvatti Alexandre S. Brandão |
| author_sort | Leonardo A. Fagundes-Júnior |
| collection | DOAJ |
| description | Robotic transport missions serve a variety of valuable purposes within similar contexts. These include delivering packages in urban or remote areas, dispatching supplies to disaster or conflict zones, and facilitating delivery operations. In such a context, this work deals with the cooperation and control of multiple-robot systems involving heterogeneous robot formation with sensing and actuation capabilities to perform load transportation tasks. Two off-the-shelf unmanned ground vehicles (UGVs) working cooperatively with one unmanned aerial vehicle (UAV) are used to validate the proposal. The interactions between the UAV and the UGVs are not only information exchanges but also physical couplings required to cooperate in the load’s joint transportation. The existence of an obstacle between the two UGVs makes it impossible for them to meet each other. Thus, the lifting, transport, and delivery of the load from one UGV to the other are performed by a UAV with a suspended electromagnet actuator. Experiments are performed for a weight of 165 g (load + electronic board), which corresponds to up to 36% of the UAV’s mass. |
| format | Article |
| id | doaj-art-c3251098ade54120a2e1cf0607399451 |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-c3251098ade54120a2e1cf06073994512025-01-24T13:29:47ZengMDPI AGDrones2504-446X2025-01-01914810.3390/drones9010048UAV–UGV Formation for Delivery Missions: A Practical Case StudyLeonardo A. Fagundes-Júnior0Celso O. Barcelos1Amanda Piaia Silvatti2Alexandre S. Brandão3Núcleo de Especialização em Robótica, Programa de Pós-Graduação em Ciência da Computação, Departamento de Engenharia Elétrica, Universidade Federal de Viçosa, Viçosa 36570-900, MG, BrazilNúcleo de Especialização em Robótica, Programa de Pós-Graduação em Ciência da Computação, Departamento de Engenharia Elétrica, Universidade Federal de Viçosa, Viçosa 36570-900, MG, BrazilLaboratório de Análises Biomecânicas, Departamento de Educação Física, Universidade Federal de Viçosa, Viçosa 36570-900, MG, BrazilNúcleo de Especialização em Robótica, Programa de Pós-Graduação em Ciência da Computação, Departamento de Engenharia Elétrica, Universidade Federal de Viçosa, Viçosa 36570-900, MG, BrazilRobotic transport missions serve a variety of valuable purposes within similar contexts. These include delivering packages in urban or remote areas, dispatching supplies to disaster or conflict zones, and facilitating delivery operations. In such a context, this work deals with the cooperation and control of multiple-robot systems involving heterogeneous robot formation with sensing and actuation capabilities to perform load transportation tasks. Two off-the-shelf unmanned ground vehicles (UGVs) working cooperatively with one unmanned aerial vehicle (UAV) are used to validate the proposal. The interactions between the UAV and the UGVs are not only information exchanges but also physical couplings required to cooperate in the load’s joint transportation. The existence of an obstacle between the two UGVs makes it impossible for them to meet each other. Thus, the lifting, transport, and delivery of the load from one UGV to the other are performed by a UAV with a suspended electromagnet actuator. Experiments are performed for a weight of 165 g (load + electronic board), which corresponds to up to 36% of the UAV’s mass.https://www.mdpi.com/2504-446X/9/1/48multi-robot systemsroute planning and followingpick-and-placeautonomous systems |
| spellingShingle | Leonardo A. Fagundes-Júnior Celso O. Barcelos Amanda Piaia Silvatti Alexandre S. Brandão UAV–UGV Formation for Delivery Missions: A Practical Case Study Drones multi-robot systems route planning and following pick-and-place autonomous systems |
| title | UAV–UGV Formation for Delivery Missions: A Practical Case Study |
| title_full | UAV–UGV Formation for Delivery Missions: A Practical Case Study |
| title_fullStr | UAV–UGV Formation for Delivery Missions: A Practical Case Study |
| title_full_unstemmed | UAV–UGV Formation for Delivery Missions: A Practical Case Study |
| title_short | UAV–UGV Formation for Delivery Missions: A Practical Case Study |
| title_sort | uav ugv formation for delivery missions a practical case study |
| topic | multi-robot systems route planning and following pick-and-place autonomous systems |
| url | https://www.mdpi.com/2504-446X/9/1/48 |
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