An Autonomous Unmanned Aerial Vehicle System for Fast Exploration of Large Complex Indoor Environments

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350896" target="_blank" >RIV/68407700:21230/21:00350896 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1002/rob.22021" target="_blank" >https://doi.org/10.1002/rob.22021</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/rob.22021" target="_blank" >10.1002/rob.22021</a>

Jazyk výsledku

angličtina

Název v původním jazyce

An Autonomous Unmanned Aerial Vehicle System for Fast Exploration of Large Complex Indoor Environments

Popis výsledku v původním jazyce

This paper introduces an autonomous system employing multirotor unmanned aerial vehicles for fast 3D exploration and inspection of vast, unknown, dynamic, and complex environments containing large open spaces as well as narrow passages. The system exploits the advantage of small-size aerial vehicles capable of carrying all necessary sensors and computational power while providing full autonomy and mobility in constrained unknown environments. Particular emphasis is put on the robustness of the algorithms with respect to challenging real-world conditions and the real-time performance of all algorithms that enable fast reactions to changes in environment and thus also provide effective use of limited flight time. The system presented here was employed as a part of a heterogeneous ground and aerial system in the modeled Search & Rescue scenario in an unfinished nuclear power plant during the Urban Circuit of the Subterranean Challenge (SubT Challenge) organized by the Defense Advanced Research Projects Agency. The main goal of this simulated disastrous scenario is to autonomously explore and precisely localize specified objects in a completely unknown environment and to report their position before the end of the mission. The proposed system was part of the multirobot team that finished in third place overall and in first place among the self-funded teams. The proposed unmanned aerial vehicle system outperformed all aerial systems participating in the SubT Challenge with respect to versatility, and it was also the self-deployable autonomous aerial system that explored the largest part of the environment.

Název v anglickém jazyce

An Autonomous Unmanned Aerial Vehicle System for Fast Exploration of Large Complex Indoor Environments

Popis výsledku anglicky

This paper introduces an autonomous system employing multirotor unmanned aerial vehicles for fast 3D exploration and inspection of vast, unknown, dynamic, and complex environments containing large open spaces as well as narrow passages. The system exploits the advantage of small-size aerial vehicles capable of carrying all necessary sensors and computational power while providing full autonomy and mobility in constrained unknown environments. Particular emphasis is put on the robustness of the algorithms with respect to challenging real-world conditions and the real-time performance of all algorithms that enable fast reactions to changes in environment and thus also provide effective use of limited flight time. The system presented here was employed as a part of a heterogeneous ground and aerial system in the modeled Search & Rescue scenario in an unfinished nuclear power plant during the Urban Circuit of the Subterranean Challenge (SubT Challenge) organized by the Defense Advanced Research Projects Agency. The main goal of this simulated disastrous scenario is to autonomously explore and precisely localize specified objects in a completely unknown environment and to report their position before the end of the mission. The proposed system was part of the multirobot team that finished in third place overall and in first place among the self-funded teams. The proposed unmanned aerial vehicle system outperformed all aerial systems participating in the SubT Challenge with respect to versatility, and it was also the self-deployable autonomous aerial system that explored the largest part of the environment.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

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

2021

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

38

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

23

Strana od-do

1036-1058

Kód UT WoS článku

000653654300001

EID výsledku v databázi Scopus

2-s2.0-85106279833