A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00369189" target="_blank" >RIV/68407700:21230/22:00369189 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.55417/fr.2022052" target="_blank" >https://doi.org/10.55417/fr.2022052</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.55417/fr.2022052" target="_blank" >10.55417/fr.2022052</a>

Result language

angličtina

Original language name

A Multi-MAV System for the Autonomous Elimination of Multiple Targets in the MBZIRC 2020 Competition

Original language description

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is a prestigious, biennial competition aimed at furthering the state of the art in the field of autonomous robotics. In this paper, we present our solution to one of the tasks in the MBZIRC 2020 competition, which design won second place in Challenge 1 and first place in the Grand Challenge of the competition. This paper focuses specifically on the popping task of multiple balloons by multiple Micro Aerial Vehicles (MAVs). This task required a rapid and robust performance to compete with systems from other expert robotic teams from around the world. In this task, a team of autonomous MAV’s had to seek and attack several balloons positioned throughout the competition arena. The novel fast autonomous searching for multiple targets in 3D, their reliable detection, precise relative state estimation, and agile motion planning algorithms are presented in this paper, together with an application for general tasks of 3D target capturing. With a primary focus on reliability, the methods reported in this paper and the entire, complex multi-agent system were successfully verified in both extreme conditions of the desert and the MBZIRC competition. An evaluation of the proposed methods using data from the competition and additional separate datasets is presented. The relevant code of our implementation has been made publicly available for the robotics community.

Czech name

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Czech description

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Type

J_ost - Miscellaneous article in a specialist periodical

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

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Continuities

N - Vyzkumna aktivita podporovana z neverejnych zdroju

Publication year

2022

Confidentiality

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

Name of the periodical

Field Robotics

ISSN

2771-3989

e-ISSN

2771-3989

Volume of the periodical

2

Issue of the periodical within the volume

January

Country of publishing house

US - UNITED STATES

Number of pages

24

Pages from-to

1697-1720

UT code for WoS article

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EID of the result in the Scopus database

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