The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350906" target="_blank" >RIV/68407700:21230/21:00350906 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/s10846-021-01383-5" target="_blank" >https://doi.org/10.1007/s10846-021-01383-5</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-021-01383-5" target="_blank" >10.1007/s10846-021-01383-5</a>

Result language

angličtina

Original language name

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Original language description

We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation, including realistic simulation of UAV, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that subsequently shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the Czech Technical University in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA Subterranean challenge. Each time, our team was able to secure top places among the best competitors from all over the world.

Czech name

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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 Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Volume of the periodical

102

Issue of the periodical within the volume

1

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

28

Pages from-to

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UT code for WoS article

000762574600002

EID of the result in the Scopus database

2-s2.0-85104097471