Autonomous Cooperation Between Terrestrial and Aerial Robots

This paper proposes a kinematic control scheme that transport of an object of cooperative and coordinated shape through the heterogeneous formation of a UGV and a UAV. The proposed control scheme is based on a cascade system conformed of three subsystems in charge of solving the problem of coordination and cooperation between the robots, thus granting greater flexibility to the proposed system. The stability of the proposed controller for the trajectories tracking is demonstrated analytically using the Lyapunov method, obtaining that the control is asymptotically stable. Finally, results are shown, where it is demonstrate that the evolution of the configuration of the system converges to the desired formation according to the theoretical design planned.