Autonomous Flying into Buildings in a Firefighting Scenario

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353570" target="_blank" >RIV/68407700:21230/21:00353570 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA48506.2021.9560789" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9560789</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9560789" target="_blank" >10.1109/ICRA48506.2021.9560789</a>

Result language
angličtina
Original language name
Autonomous Flying into Buildings in a Firefighting Scenario
Original language description
We propose an approach enabling an Unmanned Aerial Vehicle (UAV) to autonomously enter a target building through an open window. We use a fusion of depth camera and 2D Light Detection and Ranging (LiDAR) data for window detection and continuous estimation of its position, orientation, and size. The proposed algorithms are capable of running both with and without available a priori information. The obtained detections are utilized for planning collision-free trajectories through the target window. We use a sensor fusion algorithm for robust altitude estimation from laser rangefinder data while flying over ground with inconsistent elevation. Particular focus is given to the transition between outdoor and indoor environments and vice-versa to achieve the required reliability of UAV state estimation. The proposed approach has been verified in multiple real-world experiments, where the UAV was able to successfully enter and leave the target building both under normal conditions and under decreased visibility conditions in a smoke-filled environment.
Czech name
—
Czech description
—

Project
<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>
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

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
239-245
Publisher name
IEEE Xplore
Place of publication
—
Event location
Xi’an
Event date
May 30, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000765738800024

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