Large-Scale Exploration of Cave Environments by 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%2F21%3A00350938" target="_blank" >RIV/68407700:21230/21:00350938 - isvavai.cz</a>
Alternative codes found
RIV/00216305:26110/21:PU143581
Result on the web
<a href="https://doi.org/10.1109/LRA.2021.3098304" target="_blank" >https://doi.org/10.1109/LRA.2021.3098304</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2021.3098304" target="_blank" >10.1109/LRA.2021.3098304</a>
Alternative languages
Result language
angličtina
Original language name
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles
Original language description
This letter presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally applicable to an arbitrary exploration task within an unknown and unstructured subterranean environment and interconnects crucial robotic subsystems to provide full autonomy of the robots. Such subsystems primarily include mapping, path and trajectory planning, localization, control, and decision making. Due to the diversity, complexity, and structural uncertainty of natural cave environments, the proposed system allows for the possible use of any arbitrary exploration strategy for a single robot, as well as for a cooperating team. A multi-robot cooperation strategy that maximizes the limited flight time of each aerial robot is proposed for exploration and search & rescue scenarios where the homing of all deployed robots back to an initial location is not required. The entire system is validated in a comprehensive experimental analysis comprising of hours of flight time in a real-world cave environment, as well as by hundreds of hours within a state-of-the-art virtual testbed that was developed for the DARPA Subterranean Challenge robotic competition. Among others, experimental results include multiple real-world exploration flights traveling over 470 m on a single battery in a demanding unknown cave environment.
Czech name
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Czech description
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Classification
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)
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
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
6
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
7596-7603
UT code for WoS article
000684691400011
EID of the result in the Scopus database
2-s2.0-85111022769