Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Cooperative Surveillance and Boundary Tracking with Multiple Quadrotor UAVs

복수 쿼드로터 무인기를 이용한 협업 감시 및 경계선 추종

  • Lee, Hyeon Beom (School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Moon, Sung Won (School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Kim, Woo Jin (School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace Technology, Seoul National University) ;
  • Kim, Hyoun Jin (School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace Technology, Seoul National University)
  • 이현범 (서울대학교 기계항공공학부 항공우주신기술연구소) ;
  • 문성원 (서울대학교 기계항공공학부 항공우주신기술연구소) ;
  • 김우진 (서울대학교 기계항공공학부 항공우주신기술연구소) ;
  • 김현진 (서울대학교 기계항공공학부 항공우주신기술연구소)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01
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Abstract

This paper investigates a boundary tracking problem using multiple quadrotor UAVs to detect and track the boundary of physical events. We set the boundary estimation problem as a classification problem of the region in which the physical events occur, and employ SVL (Support Vector Learning). We also demonstrate a velocity vector field which is globally attractive to a desired closed path with circulation at the desired speed and a virtual phase for stabilizing the collective configuration of the multiple quadrotors. Experimental results with multiple quadrotors show that this study provides good performance of the collective boundary tracking.

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References

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