A Robust UAV System for Operations in a Constrained Environment

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00339082" target="_blank" >RIV/68407700:21230/20:00339082 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2020.2970980" target="_blank" >https://doi.org/10.1109/LRA.2020.2970980</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2020.2970980" target="_blank" >10.1109/LRA.2020.2970980</a>

Result language
angličtina
Original language name
A Robust UAV System for Operations in a Constrained Environment
Original language description
In this letter we present an autonomous system intended for aerial monitoring, inspection and assistance in Search and Rescue (SAR) operations within a constrained workspace. The proposed system is designed for deployment in demanding real-world environments with extremely narrow passages only slightly wider than the aerial platform, and with limited visibility due to the absence of illumination and the presence of dust. The focus is on precise localization in an unknown environment, high robustness, safety and fast deployment without any need to install an external infrastructure such as an external computer and localization system. These are the main requirements of the targeted SAR scenarios. The performance of the proposed system was successfully evaluated in the Tunnel Circuit of the DARPA Subterranean Challenge, where the UAV cooperated with ground robots to precisely localize artifacts in a coal mine tunnel system. The challenge was unique due to the intention of the organizers to emulate the unpredictable conditions of a real SAR operation, in which there is no prior knowledge of the obstacles that will be encountered.
Czech name
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Czech description
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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
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
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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