Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters

Applications with small unmanned vehicles have grown remarkably in recent years. Along with this, the interest and the need to carry out tasks using several of these vehicles has gained relevance. This paper presents the use of a formation based on the cluster space control technique between an unma...

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Autores principales: Garberoglio, Leonardo, Moreno, Patricio, Mas, Ignacio, Giribet, Juan
Formato: Artículo publishedVersion
Lenguaje:Español
Publicado: FIUBA 2022
Materias:
Cluster Space Control
Movile Robotics
Unmaned Aerial Vehicle
Autonomous Surface Vessel
Control en el espacio del Cluster
Robótica Móvil
Vehículo Autónomo Aéreo
Vehículo autónomo de superficie
Acceso en línea:https://elektron.fi.uba.ar/elektron/article/view/164
https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=164_oai
Aporte de:
Repositorio Digital de la Universidad de Buenos Aires (UBA) de Universidad de Buenos Aires
id I28-R145-164_oai
record_format dspace
spelling I28-R145-164_oai2026-02-11 Garberoglio, Leonardo Moreno, Patricio Mas, Ignacio Giribet, Juan 2022-12-15 Applications with small unmanned vehicles have grown remarkably in recent years. Along with this, the interest and the need to carry out tasks using several of these vehicles has gained relevance. This paper presents the use of a formation based on the cluster space control technique between an unmanned surface vehicle and an aerial vehicle, with the aim of monitoring river basins. The different perception of the environment that each vehicle has and the ability to transport different sensors are fundamental characteristics for this type of application. Results are presented both in a simulation environment and in a real application with unmanned vehicles belonging to the research groups. Las aplicaciones con pequeños vehículos no tripulados han crecido notablemente en los últimos años. Junto a ello, el interés y la necesidad de realizar tareas utilizando varios de estos vehículos fue cobrando relevancia. En este trabajo se presenta el uso de una formación basada en la técnica de control en el espacio del cluster entre un vehículo no tripulado de superficie y uno aéreo, con el objetivo de realizar monitoreo de cuencas fluviales. La diferente percepción del entorno que cada vehículo posee y la capacidad de transportar diferentes sensores son características fundamentales para este tipo de aplicación. Se presentan resultados tanto en entorno de simulación como en una aplicación real con vehículos no tripulados pertenecientes a los grupos de investigación. application/pdf text/html https://elektron.fi.uba.ar/elektron/article/view/164 10.37537/rev.elektron.6.2.164.2022 spa FIUBA https://elektron.fi.uba.ar/elektron/article/view/164/299 https://elektron.fi.uba.ar/elektron/article/view/164/313 Derechos de autor 2022 Leonardo Garberoglio, Patricio Moreno, Ignacio Mas, Juan Giribet Elektron Journal; Vol. 6 No. 2 (2022); 86-95 Revista Elektron; Vol. 6 Núm. 2 (2022); 86-95 Revista Elektron; v. 6 n. 2 (2022); 86-95 2525-0159 2525-0159 Cluster Space Control Movile Robotics Unmaned Aerial Vehicle Autonomous Surface Vessel Control en el espacio del Cluster Robótica Móvil Vehículo Autónomo Aéreo Vehículo autónomo de superficie Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters Control coordinado de vehículos aéreos y acuáticos para relevamiento batimétrico en aguas poco profundas info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=164_oai
institution Universidad de Buenos Aires
institution_str I-28
repository_str R-145
collection Repositorio Digital de la Universidad de Buenos Aires (UBA)
language Español
orig_language_str_mv spa
topic Cluster Space Control
Movile Robotics
Unmaned Aerial Vehicle
Autonomous Surface Vessel
Control en el espacio del Cluster
Robótica Móvil
Vehículo Autónomo Aéreo
Vehículo autónomo de superficie
spellingShingle Cluster Space Control
Movile Robotics
Unmaned Aerial Vehicle
Autonomous Surface Vessel
Control en el espacio del Cluster
Robótica Móvil
Vehículo Autónomo Aéreo
Vehículo autónomo de superficie
Garberoglio, Leonardo
Moreno, Patricio
Mas, Ignacio
Giribet, Juan
Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
topic_facet Cluster Space Control
Movile Robotics
Unmaned Aerial Vehicle
Autonomous Surface Vessel
Control en el espacio del Cluster
Robótica Móvil
Vehículo Autónomo Aéreo
Vehículo autónomo de superficie
description Applications with small unmanned vehicles have grown remarkably in recent years. Along with this, the interest and the need to carry out tasks using several of these vehicles has gained relevance. This paper presents the use of a formation based on the cluster space control technique between an unmanned surface vehicle and an aerial vehicle, with the aim of monitoring river basins. The different perception of the environment that each vehicle has and the ability to transport different sensors are fundamental characteristics for this type of application. Results are presented both in a simulation environment and in a real application with unmanned vehicles belonging to the research groups.
format Artículo
publishedVersion
author Garberoglio, Leonardo
Moreno, Patricio
Mas, Ignacio
Giribet, Juan
author_facet Garberoglio, Leonardo
Moreno, Patricio
Mas, Ignacio
Giribet, Juan
author_sort Garberoglio, Leonardo
title Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
title_short Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
title_full Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
title_fullStr Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
title_full_unstemmed Coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
title_sort coordinated control of aerial and aquatic vehicles for bathymetric survey in shallow waters
publisher FIUBA
publishDate 2022
url https://elektron.fi.uba.ar/elektron/article/view/164
https://repositoriouba.sisbi.uba.ar/gsdl/cgi-bin/library.cgi?a=d&c=elektron&d=164_oai
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AT masignacio coordinatedcontrolofaerialandaquaticvehiclesforbathymetricsurveyinshallowwaters
AT giribetjuan coordinatedcontrolofaerialandaquaticvehiclesforbathymetricsurveyinshallowwaters
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