Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00324633" target="_blank" >RIV/68407700:21230/19:00324633 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1002/rob.21816" target="_blank" >https://doi.org/10.1002/rob.21816</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/rob.21816" target="_blank" >10.1002/rob.21816</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles

Popis výsledku v původním jazyce

This paper addresses the problem of autonomous cooperative localization, grasping and delivering of colored ferrous objects by a team of unmanned aerial vehicles (UAVs). In the proposed scenario, a team of UAVs is required to maximize the reward by collecting colored objects and delivering them to a predefined location. This task consists of several subtasks such as cooperative coverage path planning, object detection and state estimation, UAV self-localization, precise motion control, trajectory tracking, aerial grasping and dropping, and decentralized team coordination. The failure recovery and synchronization job manager is used to integrate all the presented subtasks together and also to decrease the vulnerability to individual subtask failures in real-world conditions. The whole system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017, where it achieved the highest score and won Challenge No. 3-Treasure Hunt. This paper does not only contain results from the MBZIRC 2017 competition but it also evaluates the system performance in simulations and field tests that were conducted throughout the year-long development and preparations for the competition.

Název v anglickém jazyce

Cooperative autonomous search, grasping, and delivering in a treasure hunt scenario by a team of unmanned aerial vehicles

Popis výsledku anglicky

This paper addresses the problem of autonomous cooperative localization, grasping and delivering of colored ferrous objects by a team of unmanned aerial vehicles (UAVs). In the proposed scenario, a team of UAVs is required to maximize the reward by collecting colored objects and delivering them to a predefined location. This task consists of several subtasks such as cooperative coverage path planning, object detection and state estimation, UAV self-localization, precise motion control, trajectory tracking, aerial grasping and dropping, and decentralized team coordination. The failure recovery and synchronization job manager is used to integrate all the presented subtasks together and also to decrease the vulnerability to individual subtask failures in real-world conditions. The whole system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017, where it achieved the highest score and won Challenge No. 3-Treasure Hunt. This paper does not only contain results from the MBZIRC 2017 competition but it also evaluates the system performance in simulations and field tests that were conducted throughout the year-long development and preparations for the competition.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

Journal of Field Robotics

ISSN

1556-4959

e-ISSN

1556-4967

Svazek periodika

36

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

24

Strana od-do

125-148

Kód UT WoS článku

000455132600008

EID výsledku v databázi Scopus

2-s2.0-85055729508