Robotics cooperation in service environments, i.e. environments shared with other non-robotic agents, is becoming more and more popular in industrial, agriculture, environmental monitoring and social applications. In this paper we propose a team of Unmanned Aerial Vehicles that has to control the trajectories of a group of agents having an internal behavioural logic, such as a group of human beings moving in a shared environment or an animal flocking. The controlling UAVs are assumed to generate a force on the group members, modelled as a repulsive force and representing some sort of ``fear'' of the flying robot. To this end, this paper proposes both an effective model for the group of agents, which is inspired by the Social Force Model, and a distributed estimation and control algorithm for the controlling UAVs. By means of simulations, the validity of the modelling and the control parts is shown and promising results are derived

Modelling of a Group of Social Agents Monitored by UAVs / Federico, Morelli; Vignotto, Davide; Fontanelli, Daniele. - ELETTRONICO. - (2018), pp. 40-58. (Intervento presentato al convegno MESAS tenutosi a Roma, Italia nel 24-26 October) [10.1007/978-3-319-76072-8_3].

Modelling of a Group of Social Agents Monitored by UAVs

Vignotto, Davide;Daniele Fontanelli
2018-01-01

Abstract

Robotics cooperation in service environments, i.e. environments shared with other non-robotic agents, is becoming more and more popular in industrial, agriculture, environmental monitoring and social applications. In this paper we propose a team of Unmanned Aerial Vehicles that has to control the trajectories of a group of agents having an internal behavioural logic, such as a group of human beings moving in a shared environment or an animal flocking. The controlling UAVs are assumed to generate a force on the group members, modelled as a repulsive force and representing some sort of ``fear'' of the flying robot. To this end, this paper proposes both an effective model for the group of agents, which is inspired by the Social Force Model, and a distributed estimation and control algorithm for the controlling UAVs. By means of simulations, the validity of the modelling and the control parts is shown and promising results are derived
2018
Modelling and Simulation for Autonomous Systems
Cham
Springer International Publishing
978-3-319-76072-8
Federico, Morelli; Vignotto, Davide; Fontanelli, Daniele
Modelling of a Group of Social Agents Monitored by UAVs / Federico, Morelli; Vignotto, Davide; Fontanelli, Daniele. - ELETTRONICO. - (2018), pp. 40-58. (Intervento presentato al convegno MESAS tenutosi a Roma, Italia nel 24-26 October) [10.1007/978-3-319-76072-8_3].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/230042
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