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Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00324633" target="_blank" >RIV/68407700:21230/19:00324633 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1002/rob.21816" target="_blank" >https://doi.org/10.1002/rob.21816</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1002/rob.21816" target="_blank" >10.1002/rob.21816</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles

  • Original language description

    This paper addresses the problem of autonomous cooperative localization, grasping and delivering of colored ferrous objects by a team of unmanned aerial vehicles (UAVs). In the proposed scenario, a team of UAVs is required to maximize the reward by collecting colored objects and delivering them to a predefined location. This task consists of several subtasks such as cooperative coverage path planning, object detection and state estimation, UAV self-localization, precise motion control, trajectory tracking, aerial grasping and dropping, and decentralized team coordination. The failure recovery and synchronization job manager is used to integrate all the presented subtasks together and also to decrease the vulnerability to individual subtask failures in real-world conditions. The whole system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017, where it achieved the highest score and won Challenge No. 3-Treasure Hunt. This paper does not only contain results from the MBZIRC 2017 competition but it also evaluates the system performance in simulations and field tests that were conducted throughout the year-long development and preparations for the competition.

  • 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

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2019

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    Journal of Field Robotics

  • ISSN

    1556-4959

  • e-ISSN

    1556-4967

  • Volume of the periodical

    36

  • Issue of the periodical within the volume

    1

  • Country of publishing house

    US - UNITED STATES

  • Number of pages

    24

  • Pages from-to

    125-148

  • UT code for WoS article

    000455132600008

  • EID of the result in the Scopus database

    2-s2.0-85055729508