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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%3A27740%2F21%3A10248759" target="_blank" >RIV/61989100:27740/21:10248759 - isvavai.cz</a>

  • Alternative codes found

    RIV/61989100:27240/21:10248759

  • 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

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    10200 - Computer and information sciences

Result continuities

  • Project

  • 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

    1861-2784

  • 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