Incremental Learning of Traversability Cost for Aerial Reconnaissance Support to Ground Units

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332827" target="_blank" >RIV/68407700:21230/19:00332827 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/chapter/10.1007/978-3-030-14984-0_30" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-030-14984-0_30</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-14984-0_30" target="_blank" >10.1007/978-3-030-14984-0_30</a>

Result language
angličtina
Original language name
Incremental Learning of Traversability Cost for Aerial Reconnaissance Support to Ground Units
Original language description
In this paper, we address traversability cost estimation using exteroceptive and proprioceptive data collected by a team of aerial and ground vehicles. The main idea of the proposed approach is to estimate the terrain traversability cost based on the real experience of the multi-legged walking robot with traversing different terrain types. We propose to combine visual features with the real measured traversability cost based on proprioceptive signals of the utilized hexapod walking robot as a ground unit. The estimated traversability cost is augmented by extracted visual features from the onboard robot camera, and the features are utilized to extrapolate the learned traversability model for an aerial scan of new environments to assess their traversability cost. The extrapolated traversability cost can be utilized in the high-level mission planning to avoid areas that are difficult to traverse but not visited by the ground units. The proposed approach has been experimentally verified with a real hexapod walking robot in indoor and outdoor scenarios.
Czech name
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Czech description
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Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GA18-18858S" target="_blank" >GA18-18858S: Robotic Lifelong Learning of Multi-legged Robot Locomotion Control in Autonomous Data Collection Missions</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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