An Autonomous Unmanned Aerial Vehicle System for Fast Exploration of Large Complex Indoor Environments

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350896" target="_blank" >RIV/68407700:21230/21:00350896 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1002/rob.22021" target="_blank" >https://doi.org/10.1002/rob.22021</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/rob.22021" target="_blank" >10.1002/rob.22021</a>

Result language

angličtina

Original language name

An Autonomous Unmanned Aerial Vehicle System for Fast Exploration of Large Complex Indoor Environments

Original language description

This paper introduces an autonomous system employing multirotor unmanned aerial vehicles for fast 3D exploration and inspection of vast, unknown, dynamic, and complex environments containing large open spaces as well as narrow passages. The system exploits the advantage of small-size aerial vehicles capable of carrying all necessary sensors and computational power while providing full autonomy and mobility in constrained unknown environments. Particular emphasis is put on the robustness of the algorithms with respect to challenging real-world conditions and the real-time performance of all algorithms that enable fast reactions to changes in environment and thus also provide effective use of limited flight time. The system presented here was employed as a part of a heterogeneous ground and aerial system in the modeled Search & Rescue scenario in an unfinished nuclear power plant during the Urban Circuit of the Subterranean Challenge (SubT Challenge) organized by the Defense Advanced Research Projects Agency. The main goal of this simulated disastrous scenario is to autonomously explore and precisely localize specified objects in a completely unknown environment and to report their position before the end of the mission. The proposed system was part of the multirobot team that finished in third place overall and in first place among the self-funded teams. The proposed unmanned aerial vehicle system outperformed all aerial systems participating in the SubT Challenge with respect to versatility, and it was also the self-deployable autonomous aerial system that explored the largest part of the environment.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

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

2021

Confidentiality

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

Name of the periodical

Journal of Field Robotics

ISSN

1556-4959

e-ISSN

1556-4967

Volume of the periodical

38

Issue of the periodical within the volume

8

Country of publishing house

US - UNITED STATES

Number of pages

23

Pages from-to

1036-1058

UT code for WoS article

000653654300001

EID of the result in the Scopus database

2-s2.0-85106279833