The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350906" target="_blank" >RIV/68407700:21230/21:00350906 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/s10846-021-01383-5" target="_blank" >https://doi.org/10.1007/s10846-021-01383-5</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-021-01383-5" target="_blank" >10.1007/s10846-021-01383-5</a>

Jazyk výsledku

angličtina

Název v původním jazyce

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Popis výsledku v původním jazyce

We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation, including realistic simulation of UAV, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that subsequently shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the Czech Technical University in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA Subterranean challenge. Each time, our team was able to secure top places among the best competitors from all over the world.

Název v anglickém jazyce

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Popis výsledku anglicky

We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation, including realistic simulation of UAV, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that subsequently shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the Czech Technical University in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA Subterranean challenge. Each time, our team was able to secure top places among the best competitors from all over the world.

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 Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Svazek periodika

102

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

28

Strana od-do

—

Kód UT WoS článku

000762574600002

EID výsledku v databázi Scopus

2-s2.0-85104097471