Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00318344" target="_blank" >RIV/68407700:21230/18:00318344 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8276269" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8276269</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2018.2800121" target="_blank" >10.1109/LRA.2018.2800121</a>

Result language
angličtina
Original language name
Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments
Original language description
Autonomous Micro Aerial Vehicles have the potential to assist in real life tasks involving grasping and transportation, but not before solving several difficult research challenges. In this work, we address the design, control, estimation, and planning problems for cooperative localization, grasping, and transportation of objects in challenging outdoor scenarios. We demonstrate an autonomous team of MAVs able to plan safe trajectories for manipulation of ferrous objects, while guaranteeing inter-robot collision avoidance and automatically creating a map of the objects in the environment. Our solution is predominantly distributed, allowing the team to pick and transport ferrous disks to a final destination without collisions. This result is achieved using a new magnetic gripper with a novel feedback approach, enabling the detection of successful grasping. The gripper design and all the components to build a platform are clearly provided as open-source hardware for reuse by the community. Finally, the proposed solution is validated through experimental results where difficulties include inconsistent wind, uneven terrain, and sandy conditions.
Czech name
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Czech description
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Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
S - Specificky vyzkum na vysokych skolach

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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