Aerial Reconnaissance and Ground Robot Terrain Learning in Traversal Cost Assessment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342301" target="_blank" >RIV/68407700:21230/20:00342301 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/978-3-030-43890-6_1" target="_blank" >https://doi.org/10.1007/978-3-030-43890-6_1</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-43890-6_1" target="_blank" >10.1007/978-3-030-43890-6_1</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Aerial Reconnaissance and Ground Robot Terrain Learning in Traversal Cost Assessment

Popis výsledku v původním jazyce

In this paper, we report on the developed system for assessment of ground unit terrain traversal cost using aerial reconnaissance of the expected mission environment. The system combines an aerial vehicle with ground robot terrain learning in the traversal cost modeling utilized in the mission planning for ground units. The aerial vehicle is deployed to capture visual data used to build a terrain model that is then used for the extraction of the terrain features of the expected operational area of the ground units. Based on the previous traversal experience of the ground units in similar environments, the learned model of the traversal cost is employed to predict the traversal cost of the new expected operational area to plan a cost-efficient path to visit the desired locations of interest. The particular modules of the system are demonstrated in an experimental scenario combining the deployment of an unmanned aerial vehicle with a multi-legged walking robot used for learning the traversal cost model.

Název v anglickém jazyce

Aerial Reconnaissance and Ground Robot Terrain Learning in Traversal Cost Assessment

Popis výsledku anglicky

In this paper, we report on the developed system for assessment of ground unit terrain traversal cost using aerial reconnaissance of the expected mission environment. The system combines an aerial vehicle with ground robot terrain learning in the traversal cost modeling utilized in the mission planning for ground units. The aerial vehicle is deployed to capture visual data used to build a terrain model that is then used for the extraction of the terrain features of the expected operational area of the ground units. Based on the previous traversal experience of the ground units in similar environments, the learned model of the traversal cost is employed to predict the traversal cost of the new expected operational area to plan a cost-efficient path to visit the desired locations of interest. The particular modules of the system are demonstrated in an experimental scenario combining the deployment of an unmanned aerial vehicle with a multi-legged walking robot used for learning the traversal cost model.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

6th International Workshop on Modelling and Simulation for Autonomous Systems

ISBN

9783030438890

ISSN

—

e-ISSN

1611-3349

Počet stran výsledku

8

Strana od-do

3-10

Název nakladatele

Springer

Místo vydání

Wien

Místo konání akce

Palermo

Datum konání akce

29. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000628847000001