Toward an exploration-based probabilistic reasoning for a quadrotor
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F21%3A10248759" target="_blank" >RIV/61989100:27240/21:10248759 - isvavai.cz</a>
Alternative codes found
RIV/61989100:27740/21:10248759
Result on the web
<a href="https://link.springer.com/article/10.1007%2Fs11370-021-00378-3" target="_blank" >https://link.springer.com/article/10.1007%2Fs11370-021-00378-3</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s11370-021-00378-3" target="_blank" >10.1007/s11370-021-00378-3</a>
Alternative languages
Result language
angličtina
Original language name
Toward an exploration-based probabilistic reasoning for a quadrotor
Original language description
This work outlines a practically realizable (i.e., deployable and scalable) yet novel autonomous exploration strategy for unmanned aerial vehicles (UAV), which in our case, corresponds to multi-rotor configurations. Concretely, based on a probabilistic map, UAVs are able to modify their trajectory to localize the required target in unknown areas. This is thanks to the fact that the proposed exploration strategy uses the past and the actual perceived data in order to deduce the location of the target, and a dedicated control law allows the multi-rotor to reach the desired position. To realize the strategy, we developed a hierarchical control architecture that can be embedded in multi-rotors. We show its effectiveness by computer simulations and tests using real drones, against a forest-fire localization scenario for an unknown area.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10200 - Computer and information sciences
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Intelligent Service Robotics
ISSN
1861-2776
e-ISSN
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Volume of the periodical
14
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
563-570
UT code for WoS article
000684895400001
EID of the result in the Scopus database
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