A Multi-UAV System for Detection and Elimination of Multiple Targets
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00351028" target="_blank" >RIV/68407700:21230/21:00351028 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA48506.2021.9562057" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9562057</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9562057" target="_blank" >10.1109/ICRA48506.2021.9562057</a>
Alternative languages
Result language
angličtina
Original language name
A Multi-UAV System for Detection and Elimination of Multiple Targets
Original language description
The problem of safe interception of multiple intruder UAVs by a team of cooperating autonomous aerial vehicles is addressed in this paper. The presented work is motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where this task was simplified to an interaction with a set of static and dynamic objects (balloons and a UAV), and by a real autonomous aerial interception system of Eagle.One that our team has been working on. We propose a general control, perception, and coordination system for the fast and reliable interception of targets in a 3D environment relying only on onboard sensors and processing. The proposed methods and the entire complex multi-robot sys- tem were successfully verified in demanding desert conditions, with the main focus on reliability and fast deployment. In the MBZIRC competition, the proposed approach exhibited the greatest reliability and fastest solution. It was crucial to our team in winning the entire competition and achieving the second place in the intruder UAV interception scenario.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
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
Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-9077-8
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
555-561
Publisher name
IEEE Xplore
Place of publication
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Event location
Xi’an
Event date
May 30, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000765738800048