Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00318344" target="_blank" >RIV/68407700:21230/18:00318344 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8276269" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8276269</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2018.2800121" target="_blank" >10.1109/LRA.2018.2800121</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments

Popis výsledku v původním jazyce

Autonomous Micro Aerial Vehicles have the potential to assist in real life tasks involving grasping and transportation, but not before solving several difficult research challenges. In this work, we address the design, control, estimation, and planning problems for cooperative localization, grasping, and transportation of objects in challenging outdoor scenarios. We demonstrate an autonomous team of MAVs able to plan safe trajectories for manipulation of ferrous objects, while guaranteeing inter-robot collision avoidance and automatically creating a map of the objects in the environment. Our solution is predominantly distributed, allowing the team to pick and transport ferrous disks to a final destination without collisions. This result is achieved using a new magnetic gripper with a novel feedback approach, enabling the detection of successful grasping. The gripper design and all the components to build a platform are clearly provided as open-source hardware for reuse by the community. Finally, the proposed solution is validated through experimental results where difficulties include inconsistent wind, uneven terrain, and sandy conditions.

Název v anglickém jazyce

Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments

Popis výsledku anglicky

Autonomous Micro Aerial Vehicles have the potential to assist in real life tasks involving grasping and transportation, but not before solving several difficult research challenges. In this work, we address the design, control, estimation, and planning problems for cooperative localization, grasping, and transportation of objects in challenging outdoor scenarios. We demonstrate an autonomous team of MAVs able to plan safe trajectories for manipulation of ferrous objects, while guaranteeing inter-robot collision avoidance and automatically creating a map of the objects in the environment. Our solution is predominantly distributed, allowing the team to pick and transport ferrous disks to a final destination without collisions. This result is achieved using a new magnetic gripper with a novel feedback approach, enabling the detection of successful grasping. The gripper design and all the components to build a platform are clearly provided as open-source hardware for reuse by the community. Finally, the proposed solution is validated through experimental results where difficulties include inconsistent wind, uneven terrain, and sandy conditions.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

99

Číslo periodika v rámci svazku

PP

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

1-8

Kód UT WoS článku

—

EID výsledku v databázi Scopus

2-s2.0-85051814668