Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366967" target="_blank" >RIV/68407700:21230/23:00366967 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.robot.2023.104482" target="_blank" >https://doi.org/10.1016/j.robot.2023.104482</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2023.104482" target="_blank" >10.1016/j.robot.2023.104482</a>

Result language

angličtina

Original language name

Autonomous Cooperative Wall Building by a Team of Unmanned Aerial Vehicles in the MBZIRC 2020 Competition

Original language description

This paper presents a system for autonomous cooperative wall building with a team of Unmanned Aerial Vehicles (UAVs). The system was developed for Challenge 2 of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020. The wall-building scenario of Challenge 2 featured an initial stack of bricks and wall structure where the individual bricks had to be placed by a team of three UAVs. The objective of the task was to maximize collected points for placing the bricks within the restricted construction time while following the prescribed wall pattern. The proposed approach uses initial scanning to find a priori unknown locations of the bricks and the wall structure. Each UAV is then assigned to individual bricks and wall placing locations and further performs grasping and placement using onboard resources only. The developed system consists of methods for scanning a given area, RGB-D detection of bricks and wall placement locations, precise grasping and placing of bricks, and coordination of multiple UAVs. The paper describes the overall system, individual components, experimental verification in demanding outdoor conditions, the achieved results in the competition, and lessons learned. The presented CTU-UPenn-NYU approach achieved the overall best performance among all participants to win the MBZIRC competition by collecting the highest number of points by correct placement of a high number of bricks.

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

<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

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

Name of the periodical

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Volume of the periodical

167

Issue of the periodical within the volume

September

Country of publishing house

US - UNITED STATES

Number of pages

19

Pages from-to

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UT code for WoS article

001037750600001

EID of the result in the Scopus database

2-s2.0-85164241598