Toward an exploration-based probabilistic reasoning for a quadrotor

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27740%2F21%3A10248759" target="_blank" >RIV/61989100:27740/21:10248759 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/61989100:27240/21:10248759

Výsledek na webu

<a href="https://link.springer.com/article/10.1007%2Fs11370-021-00378-3" target="_blank" >https://link.springer.com/article/10.1007%2Fs11370-021-00378-3</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s11370-021-00378-3" target="_blank" >10.1007/s11370-021-00378-3</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Toward an exploration-based probabilistic reasoning for a quadrotor

Popis výsledku v původním jazyce

This work outlines a practically realizable (i.e., deployable and scalable) yet novel autonomous exploration strategy for unmanned aerial vehicles (UAV), which in our case, corresponds to multi-rotor configurations. Concretely, based on a probabilistic map, UAVs are able to modify their trajectory to localize the required target in unknown areas. This is thanks to the fact that the proposed exploration strategy uses the past and the actual perceived data in order to deduce the location of the target, and a dedicated control law allows the multi-rotor to reach the desired position. To realize the strategy, we developed a hierarchical control architecture that can be embedded in multi-rotors. We show its effectiveness by computer simulations and tests using real drones, against a forest-fire localization scenario for an unknown area.

Název v anglickém jazyce

Toward an exploration-based probabilistic reasoning for a quadrotor

Popis výsledku anglicky

This work outlines a practically realizable (i.e., deployable and scalable) yet novel autonomous exploration strategy for unmanned aerial vehicles (UAV), which in our case, corresponds to multi-rotor configurations. Concretely, based on a probabilistic map, UAVs are able to modify their trajectory to localize the required target in unknown areas. This is thanks to the fact that the proposed exploration strategy uses the past and the actual perceived data in order to deduce the location of the target, and a dedicated control law allows the multi-rotor to reach the desired position. To realize the strategy, we developed a hierarchical control architecture that can be embedded in multi-rotors. We show its effectiveness by computer simulations and tests using real drones, against a forest-fire localization scenario for an unknown area.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

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OECD FORD obor

10200 - Computer and information sciences

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Intelligent Service Robotics

ISSN

1861-2776

e-ISSN

1861-2784

Svazek periodika

14

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

563-570

Kód UT WoS článku

000684895400001

EID výsledku v databázi Scopus

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